年次大会
Online ISSN : 2424-2667
ISSN-L : 2424-2667
セッションID: G101034
会議情報
G101034 6自由度パラレルリンク型アクティブ吸振器付き搬送台車による液体タンクの制振搬送制御 : 高次モードスロッシングを励起させない制振制御([G101-03]機械力学・計測制御部門,一般セッション(3))
福田 昌弘浜口 雅史谷口 隆雄
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会議録・要旨集 フリー

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抄録
In this paper,a damping control by using an active vibration reducer of 6-DOF parallel link type.Sloshing in a cylindrical container is caused by transfer acceleration.Sloshing is represented by a spherical pendulum model.The spherical pendulum model is used to design the damping control of sloshing.The damping control of sloshing is carriedout with a reference model following control and an optimal servo control.The reference model following control isused to suppress the higher mode sloshing.The optimal servo control is applied to damp(1,1) mode sloshing.The simulation model applying the control system has(1,1) and(1,2) mode sloshing.The values of the parameters of the reference model following control and the weighting matrix of the optimal servo are optimized by a genetic algorithm(GA).The usefulness of the proposed control system is verified through simulation.
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© 2013 一般社団法人 日本機械学会
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