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

URI http://harp.lib.hiroshima-u.ac.jp/it-hiroshima/metadata/4276
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Title
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
Title Alternative
Vibration and Active Control of Robotics (II) : A Comparison of the Controlled Effects by Various Control Laws in a Flexible Arm System
Author
氏名 川辺 尚志
ヨミ カワベ ヒサシ
別名 Kawabe Hisashi
氏名 吉田 和信
ヨミ ヨシダ カズノブ
別名 Yoshida Kazunobu
Subject
simultaneous control
active control
LQ control
distributed-parameter system
VSS
sliding mode
relay control
direct feedback control
dynamic compensator
optimal feedback gain.
Abstract

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.

Journal Title
広島工業大学研究紀要
Volume
23
Spage
145
Epage
154
Published Date
1989
Publisher
広島工業大学
ISSN
03851672
NCID
AN0021271X
Language
jpn
NIIType
Departmental Bulletin Paper
Text Version
出版社版
Old URI
Set
it-hiroshima