柔軟構造物のパワーアシスト搬送のための制振から位置決めへの切り換え制御手法
スポンサーリンク
概要
- 論文の詳細を見る
This paper shows control methods of the smooth switching from vibration reduction when a worker conveys flexible structures to their positioning. One of the important issues in this study is there are no knowledge of the goal position before conveying an object and the terminal time when worker finishes conveying. Then one of sensors can detect the displacement of the object not anytime but only the time when the position is settled. Additionally, an overshoot has to be prevented when there are other objects at the goal position. For clearing up these issues, we applied an adaptive nonstationary control method and showed its effectiveness. And two methods for determining the goal position with limited sensor signals are proposed. For showing the utility of the proposed methods, we conducted four kinds of experiments of positioning a flexible object: 1) only the power assist control, 2) the vibration control with power assist control, 3) the vibration and position control with power assist control and laser sensor, 4) the vibration and position control with power assist control without laser sensor. The results show that the first method is useful for accurate positioning in a short time. The second method does not need an additional sensor used in the first method. However, this method takes a longer time for accurate positioning settling. Adaptive nonstationary control with smooth mode switching is useful when the additional sensor signal is input in the positioning stage only. Then, the results also show that vibration control is important when not only conveying but also positioning because of preventing the overshoot. The proposed methods are useful because it can position any undetermined goal position before conveying.
- 公益社団法人 計測自動制御学会の論文
公益社団法人 計測自動制御学会 | 論文
- Self-Excited Oscillation of Relay-Type Sampled-Data Feedback Control System
- タイトル無し
- Mold Level Control for a Continuous Casting Machine Using an Electrode-Type Mold-Level Detector
- Assessment and Control of Noise:Pollution by Noise from General Sources
- Information network system and home automation.