活線作業用高所作業車の軌道制御に関する研究 : 第1報,油圧サーボ弁の線形化による起伏動作の制御(機械力学,計測,自動制御)

概要

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In this paper, as the first step of trajectory control of aerial vehicles for live-line maintenance work, by servo valve attached to the derricking cylinder, a trajectory control method of bucket in the vertical plane is discussed. Here, we reorganized the equation of motion for the aerial vehicle and linearized the servo value by introducing the current compensation. Based on these equations, we derived the simple model of the controlled variable corresponding to the altitude of the bucket gravity center and the control rule. Simulations demonstrate that current compensation can improve the precision of trajectory control effectively, and good results can be obtained for the changing of the bucket altitude and sinusoidal reference trajectory by using the proposed method.
社団法人日本機械学会の論文
2004-08-25