G101022 自動追尾台車のための姿勢制御([G101-02]機械力学・計測制御部門,一般セッション(2))

• 八木 俊洋

  近畿大学大学院総合理工学研究科

• 小坂 学

  近畿大字

書誌事項

タイトル別名

• G101022 Attitude control for an automatic-tracking cart

抄録

Carts are used in various situations to reduce fatigues and efficiently carry baggage.An automatic-tracking cart has been developed in recent years.Vibration suppression and attitude control are required to carry everything in everywhere.Vibration suppression and attitude control of the cart uses three linear actuators and three-degree-of-freedom parallel links.This system is heavy when it is equipped the automatic-tracking cart.This paper proposes a new suppression and attitude control system of cart.This system uses a DC motor and a pantograph jack as an actuator and control attitude from y axis acceleration of an acceleration sensor.Reduced order model preserving stability margin is used for attitude control.Some experimental results prove that this system is effective in attitude control.

収録刊行物

• 年次大会

  年次大会 2013 (0), _G101022-1-_G101022-5, 2013

  一般社団法人 日本機械学会

キーワード

• Actuator
• Mechanism
• Digital Control

詳細情報

• CRID: 1390282680817590016
• NII論文ID: 110009932035
• DOI: 10.1299/jsmemecj.2013._g101022-1
• ISSN: 24242667
• Web Site: https://www.jstage.jst.go.jp/article/jsmemecj/2013/0/2013__G101022-1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可