Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
Rotary speed have to accurate control to realize high operability in electric tiller. Tilling reaction torque is periodic. Thus, repetitive control is suitable for speed control in electric tiller. However, conventional repetitive control does not correspond to period variation of tilling reaction torque due to variation of rotary speed. Moreover, tilling reaction torque has jitter due to variation of ground condition. This paper proposes repetitive control system which compensates tilling reaction torque with jitter. Proposed method uses angle of loader because tilling reaction torque depends on angle of loader. This paper confirms the effectiveness by experimental results.
