2026-03-14T20:43:48Z https://it-hiroshima.repo.nii.ac.jp/oai

oai:it-hiroshima.repo.nii.ac.jp:00000507 2023-07-25T10:48:00Z 1:17:203

ロボットにおける振動と能動的制御(Ⅱ) : フレキシブル・ア-ムにおける各種制御則効果の比較 Vibration and Active Control of Robotics (II) : A Comparison of the Controlled Effects by Various Control Laws in a Flexible Arm System 川辺, 尚志 カワベ, ヒサシ 吉田, 和信 ヨシダ, カズノブ Kawabe, Hisashi Yoshida, Kazunobu simultaneous control active control LQ control distributed-parameter system VSS sliding mode relay control direct feedback control dynamic compensator optimal feedback gain. application/pdf The simultaneously controlled effects of both the rotational position θ(t) and the transverse vibration y (t) in a flexible arm system have been compared between the LQ control law based on a distributed-parameter modeling method and other control laws beginning with a VSS with sliding modes. The experimental system consists of a DC servo-motor directly driving the elastic arm (332 X 25 X 1 mm3) with its concentrated mass (m = 0.089 kg), A/D and D/A converters, and the μ-computer PC9801vm21 which is mainly utilized for constructing a dyanmic compensator including an output feedback type observer. In case of applying the LQ method as the control law, satisfactory simultaneous controllability of θ and y can be obtained for the optimal state feedback gain Kopt= [11.9718, 0.806421, -63.2757, -26.6940], while in a direct feedback system and a relay control one, the simulataneous controllability is not so good as in the optimaｌ system designed by the LQ method. In a 2-strucure-type VSS and the VSS with sliding modes, however, the good controllability, the effect of which is comparable to that of the LQ method, is obtainable, when the control parameters are optimally set. The CPU execution speed especially enhanced by micro-processor i8087 can be reduced to 3.4 msec in using the C language, the computing time by which is about 50 times as short as that in the BASIC language. departmental bulletin paper 広島工業大学 1989 VoR application/pdf 広島工業大学研究紀要 23 145 154 AN0021271X 03851672 https://it-hiroshima.repo.nii.ac.jp/record/507/files/kenkyukiyo23145.pdf https://it-hiroshima.repo.nii.ac.jp/records/507 jpn