G101034 6自由度パラレルリンク型アクティブ吸振器付き搬送台車による液体タンクの制振搬送制御 : 高次モードスロッシングを励起させない制振制御([G101-03]機械力学・計測制御部門,一般セッション(3))

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タイトル別名
  • G101034 Damping Control of Sloshing in Cylindrical Container on Cart with Active Vibration Reducer of 6-DOF Parallel Link Type : Damping Control without Excitation of Higher Mode Sloshing

抄録

In this paper,a damping control by using an active vibration reducer of 6-DOF parallel link type.Sloshing in a cylindrical container is caused by transfer acceleration.Sloshing is represented by a spherical pendulum model.The spherical pendulum model is used to design the damping control of sloshing.The damping control of sloshing is carriedout with a reference model following control and an optimal servo control.The reference model following control isused to suppress the higher mode sloshing.The optimal servo control is applied to damp(1,1) mode sloshing.The simulation model applying the control system has(1,1) and(1,2) mode sloshing.The values of the parameters of the reference model following control and the weighting matrix of the optimal servo are optimized by a genetic algorithm(GA).The usefulness of the proposed control system is verified through simulation.

収録刊行物

  • 年次大会

    年次大会 2013 (0), _G101034-1-_G101034-4, 2013

    一般社団法人 日本機械学会

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