2A1-D01 パワーアシスト搬送を考慮した柔軟構造物の振動制御

概要

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Power assist devices have been introduced to reduce physical burden of workers in conveying and mounting work in industries. Most of them handle controlled objects as rigid bodies. This study discusses an effective vibration control method for conveying flexible structures with power assist. In our previous paper, a disturbance accommodating LQ optimal control (DAOC) method was applied to the vibration control problem and the effectiveness was verified by output feedback control experiments. This paper discusses the effectiveness of the DAOC method in the case that the frequency ranges of the power assist and the vibration control overlap considerably. The DAOC method is applied to the same cart with a 1-DOF vibration system as in the previous paper but having more flexible structure. Its natural frequency is set to 1.0 Hz. The effectiveness of DAOC in this case is demonstrated by simulations and experiments.
一般社団法人日本機械学会の論文