スライディングモード制御則を用いたキャスタワゴンの地震応答抑制

抄録

Many earthquakes have occurred in Japan since long ago. Many damages have been reported in the medical field, and it was revealed that there is a problem with the fixing method of medical equipment. Much medical equipment has casters and lock them as earthquake countermeasure. However, in the case where casters are locked, equipment may vibrate greatly and fall over. On the other hand, in the case where casters are not locked, equipment may move greatly and collide with other equipment and people. In previous study, for the purpose of preventing significant movement and falling of medical equipment with casters, it was proposed controller adapted Instantaneous Optimal Control theory with ER brake for caster wagon that simulated medical equipment. However, in experiment, the controller was not able to reduce relative displacement response and absolute acceleration response sufficiently. In this paper, we describe the result on new controller adapted Sliding Mode Control theory. First, we designed sliding mode controller and switching hyperplane for it. Next, we verified reduction performance of the controller by simulation and experiment. As a result, we confirmed that new controller is able to reduce displacement response and absolute acceleration response for multiple seismic waves effectively.