回転型アクティブ除振装置AWDによるスカイフック－外乱相殺併合制御と動的量子化器を用いた低分解能制御系の除振性能

抄録

This study develops a Active Wheel Damper Device (AWD) that can be attached easily to the boom sprayer. The AWD achieves lightweight and higher inertia by the flywheel and can be mounted on the flexible structure easily. In addition, this AWD can construct realize sky-hook control easily because of it can measure the absolute angular velocity of the flexible structure by the gyro sensor. Therefore, the AWD uses Sky-hook with Disturbance Cancellation (SWDC) control that combined control system of sky-hook control and disturbance cancellation control. Damping performance of AWD has been confirmed by presented studies, but for practical use of AWD, reduction of production cost of AWD is more necessary. Then, we suppose deterioration of resolution due to using the low cost and low resolution controller. In addition, we examine whether the performance of AWD can be kept when adding the dynamic quantizer. In the previous study, we have shown the influence of torque of motor on control performance, but not yet carried out a study on the effect of the sampling period. In this paper, we clarify the relationship between the sampling period of the controller and the maximum torque of the motor by introducing angular-momentum resolution.