著者

吉村達也著

出版者

中央公論社

巻号頁・発行日

1996

著者

吉村達也著

出版者

ワニブックス (発売)

巻号頁・発行日

2011

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.