| Item type |
紀要論文 / Departmental Bulletin Paper(1) |
| 公開日 |
2023-03-30 |
| タイトル |
|
|
タイトル |
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 |
| タイトル |
|
|
タイトル |
Vibration and Active Control of Robotics (II) : A Comparison of the Controlled Effects by Various Control Laws in a Flexible Arm System |
|
言語 |
en |
| 言語 |
|
|
言語 |
jpn |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
simultaneous control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
active control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
LQ control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
distributed-parameter system |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
VSS |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
sliding mode |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
relay control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
direct feedback control |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
dynamic compensator |
| キーワード |
|
|
主題Scheme |
Other |
|
主題 |
optimal feedback gain. |
| 資源タイプ |
|
|
資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
|
資源タイプ |
departmental bulletin paper |
| 著者 |
川辺, 尚志
吉田, 和信
Kawabe, Hisashi
Yoshida, Kazunobu
|
| 抄録 |
|
|
内容記述タイプ |
Abstract |
|
内容記述 |
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. |
| 書誌情報 |
広島工業大学研究紀要
巻 23,
p. 145-154,
発行日 1989
|
| 出版者 |
|
|
出版者 |
広島工業大学 |
| ISSN |
|
|
収録物識別子タイプ |
ISSN |
|
収録物識別子 |
03851672 |
| 書誌レコードID |
|
|
収録物識別子タイプ |
NCID |
|
収録物識別子 |
AN0021271X |
| フォーマット |
|
|
内容記述タイプ |
Other |
|
内容記述 |
application/pdf |
| 著者版フラグ |
|
|
出版タイプ |
VoR |
|
出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
kenkyukiyo23145.pdf (1.4 MB)
