著者

飯島 奏望 種村 昌也 千田 有一 東 俊一

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.58, no.8, pp.399-401, 2022 (Released:2022-09-03)

参考文献数

8

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In this paper, we discuss the estimation of passivity based on input-output data without a system model. In the conventional data-driven estimation method based on the gradient approach, the convergence is slow and a large number of experiments is required. Therefore, we propose the method of reduction in the amount of data for data-driven passivity estimation to MIMO systems. Furthermore, we show the convergence property of the proposed method. In addition, through numerical simulations, the effectiveness of the proposed method is verified.

著者

畠山 貴充 平野 幸助 中村 雄太 藤澤 彰宏 土屋 貴司 山口 達也 千田 有一 吉村 達也

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.851, pp.16-00531-16-00531, 2017 (Released:2017-07-25)

参考文献数

21

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In the present paper, development of an automatic spinach harvester is discussed. Our research group has been developing a prototype harvester and many filed tests have been successfully executed. The field test results show that spinach can be picked up automatically without being grasped after their roots being cut at specified position in soil. The harvester equips two degrees of freedom control units, such as the arm length control unit and the arm angle control unit, for controlling a root-cutting blade which follows the specified path under the ground. In the present paper, modeling and control design for the arm length control is discussed. First, a control design model is developed by several system identification techniques. Next, an I-PD controller is designed by the robust control design procedure. Control performance is verified by numerical simulations and field tests.

著者

藤澤 彰宏 千田 有一

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.850, pp.16-00472-16-00472, 2017 (Released:2017-06-25)

参考文献数

19

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This paper describes about path planning for a root-cutting blade of an automatic spinach harvester. Automatic harvesters for spinach have not been widely used among farmers because mechanical harvesting easily spells bruises to stems and leaves. We have been developing the harvester which successfully harvests spinach without bruising stems and leaves. The path which blade moves in soil is very important in order to attain desired performance and to reduce the amount of soil which is pushed by the blade is the most meaningful factor for successful execution. In this paper, first, we discuss about a method to reduce the amount of soil and proposed a constraint equation for the method. Next, an appropriate path of the blade of the harvester is proposed by using the equation. The effectiveness of the proposed path is verified by numerical simulations based on the Discrete Element Method (DEM).