定駆動力機構を用いた新たな電動リフト台車におけるセンサレス制御の実現

抄録

In this paper, a novel electric lift cart with a constant driving force mechanism is developed in order to help labors. The proposed new lifting mechanism is able to lift loads with constant driving force regardless of the height of lift, and can lift heavy objects using a small motor. In terms of control, a sensorless force estimation method is proposed instead of a force sensor. The proposed method is based on a model of a lift mechanism, and experiments were conducted using a simplified miniature model for verification. As a result, the weights of the dumbbells are well estimated when it was placed on the platform. In the future, we will implement the method on an actual lift cart and aim to develop a method that integrates shock absorption and height control.