抄録
This study develops an Active Wheel Damper (AWD) which can be attached easily to flexible structures such as the boom sprayer. The AWD also achieves lightweight and higher inertia by using the flywheel, and can realize sky-hook control easily because the absolute angular velocity of the flexible structure is measured by the gyro sensor. For achieving higher vibration suppression performance, disturbance cancellation control has been combined with the sky-hook control, and the Sky-hook with Disturbance Cancellation (SWDC) control has been applied to the AWD controller. Generally, a low cost microcomputer, which commonly has limited I/O port resource, is used to construct such control device. Our previous study supposes low resolution controller (minimum resolution is 2 bit), and shows that performance of the AWD can be kept by applying the dynamic quantizer to the controller. However, the control performance is changes according to the sampling period and the actuator torque per bit (TPB) of the controller, and ‘Impulse Resolution’ introduced in the previous study can realize simple evaluation of control performance. This study shows the difficulty in deciding the sampling period and the TPB, and using the ‘Impulse Resolution’ makes this problem simple to understand. So, the index ‘Impulse Resolution’ is useful for realizing those controllers.
