2023 年 10 巻 4 号 p. 23-00136
In this paper, a control system for an active vibration reducer is proposed to damp sloshing in a liquid container while a cart runs on an uneven road. An active vibration reducer with a parallel linkage mechanism with six degrees of freedom was installed on the cart, and used to damp the sloshing. The acceleration added to the container by changing the altitude of the cart was calculated through the kinematics of the cart with an active vibration reducer, and the cart’s acceleration was measured using an accelerometer installed on the cart. The sloshing generated by the acceleration was suppressed by the action of the reducer, controlled through a reference model following control. The residual sloshing was damped by a frequency-dependent optimal servo system. The cart ran along straight and curved paths on an uneven road in an experiment, and the proposed control system demonstrated satisfactory damping performance.
