揺らぎを持つ周期的な耕耘反トルクを抑制する電動耕耘機のロータリー速度制御法

抄録

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.