文献一覧: 公益社団法人計測自動制御学会 (出版者)

1 0 0 0 OA 油圧ショベルの均し作業精度向上のためのスミス補償器の活用

著者: 安藤博昭青柳多慶夫村山栄治荒井邦晴
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.54, no.12, pp.872-877, 2018 (Released:2018-12-18)
参考文献数: 10

Performances of main components such as an engine, hydraulic pump, cylinder, valve and so on for a hydraulic excavator have been improved year by year. The system also related with a controller to assist operations have been complex more and more. An excavator is a general construction machine for a civil engineering and performs a various of applications such as a digging, truck loading, lifting and leveling. A powerful digging force and fast motions are required. Besides, very sensitive and accurate operations are needed. There is a response delay of the hydraulic system from an operator input command to a hydraulic cylinder motion as an actuator. When an assist controller to manipulate the bucket is developed, the delay should be considered in order to improve the accuracy. In this paper, we investigate to utilize Smith Predictor for a leveling operation which is required high accuracy as a system with time delay. It's confirmed that Smith Predictor is better than a conventional PID controller to quantitatively compare the following trajectories of the bucket tip to a target.

2021-07-26 08:08:37
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1 0 0 0 OA 仮想的な機械要素を有するヘビ型ロボットの動力学的経路追従フィードバック制御法

著者: 山口博明野木滉一郎米澤直晃冨岡明弘
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.54, no.6, pp.574-587, 2018 (Released:2018-06-20)
参考文献数: 28

This paper presents a novel dynamical path following feedback control method for a snake-like robot. The snake-like robot is an undulatory locomotor transforming its periodic changes in shape into its displacement. To achieve work involving movement, e.g., an inspection task, in its working environment, it is necessary to specify its motion quantitatively. Since each of the links of the locomotor has passive wheels at its midpoint, it is not simple to design a feedback control system which enables the locomotor to follow desired paths (or to track desired trajectories) compared with wheel drive vehicles. Especially, the locomotor has singular attitudes in which the driving of its joints cannot be transformed into its movement. In this control method, a virtual link with a virtual steering system at its tip and a virtual axle at its midpoint connected to a top link through a virtual joint at its tip is caused to follow winding paths, which makes it possible to transform the driving torque of its joints into its propulsion force. The kinematical equations of the locomotor are formulated in a curvilinear coordinate system in which a winding path is one coordinate axis. A part of the kinematical equations describing the motion of the virtual mechanical elements only are converted into a chained form which facilitates to design a kinematical path following feedback control system. By a backstepping method, the acceleration required to realize the desired velocity in the kinematical control system is calculated. Based on the dynamical equations of the locomotor derived in Lagrangian mechanics, the torque of the joints of the locomotor is designed so as to realize the acceleration calculated by the backstepping method. The validity of this dynamical control method is verified by simulations in which the locomotor climbs a slope while following a serpenoid curve path.

2021-07-19 18:40:16
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1 0 0 0 画像計測高精度化のための超音波定在波による空気揺らぎの抑制 —第二報:粒子画像流速測定法による観察—

著者: 星貴之早田滋
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.57, no.7, pp.337-338, 2021 (Released:2021-07-17)
参考文献数: 1

In the previous paper, we proposed a method to stabilize the air over a heater by ultrasonic standing wave for better vision sensing. The phenomenon was not fully understood. This paper reports the observation results by particle image velocimetry.