アクティブ エア サスペンション ノ セイシン セイノウ コウジョウ ノタメノ セイギョホウ ニ カンスル ケンキュウ

It is important to improve both the ride quality and the driving stability of vehicles. However, with conventional passive suspensions, these two requirements can rarely be simultaneously satisfied. In this paper, an active air suspension is constructed using a pneumatic cylinder and two electro pneumatic proportional pressure control valves, which has the advantage of inherent buffer function due to the air compressibility. However, an electro pneumatic control valve involves a considerable delay time which deteriorates the vibration control performance. To cope with this problem, the control valve delay is formulated as an input time delay in the discrete-time state equation, for which an optimal regulator with a state observer is designed. Through experiments, the applicability of this optimal control method for the active air suspension can be confirmed

ファン フジョウ キカイ ノ ホバリング セイギョ

It is strongly desired to develop a flying robot which can travel in the air freely to do field works such as construction, agriculture, forestry or the maintenance of power lines. The multifan hovering machine tested here is a kind of such a flying robot. This hovering machine has four fans which are driven by DC motors controlled by changing rotational speed. The purpose of this study is to establish the hovering control scheme and is to investigate its control characteristics. The tested control system consists of a scale model with four fans, electric motors, angle sensors, A/D converter, D/A converter and a personal computer PC-9801RA. The results obtained can be summarized as follows : 1) The digital control system of a multifan hovering machine was constructed using a scale model and its system parameters were measured. 2) The mathematical model of the hovering machine was formulated and the fundamental equations were derived for hovering control. Based on these equations, the control method that pitch, roll and yaw angle were controlled independently, was proposed. 3) The attitude control of the machine can be realized by controlling three angles independently with PID control scheme. 4) The application of a fuzzy control scheme to the hovering control was tested. The fuzzy control showed good disturbance suppression as well as the high-gain PID control. On the other hand, it showed the disadvantage that control input had to be limited to stabilize the control system

クウキアツ ソフト グリッパ オ モチイタ ハンドリング ソウチ ノ シサク

In our previous paper, we investigated a rubber robot arm which seemed to be usefull for a contacting task. This rubber arm was made bigger than a flexible microactuator which was developed by K. Suzumori. The flexible microactuator has following advantages : 1) it is easy to miniaturize because of its simple structure, 2) movement of multi degrees of freedom is possible, 3) it operates smoothly and gently because of no friction, 4) it is safer because it is made of rubber. We tried to use a flexible microactuator as a soft gripper of an automatic handling machine. In this paper, the development of a handling machine using the soft gripper and its control are discussed. First, the structure of the tested gripper, its operating principle and its production procedure are shown. Second, the static characteristics of soft gripper is investigated theoretically and experimentally. Finally, the positioning control of the handling machine and the grasping and carrying control of the soft gripper are tested. The results obtained from the works can be summarized as follows : 1) Proposed analytical model of soft gripper can explain well the statics of a soft gripper : the pridicted generated force and carrying force of a soft gripper agree with experimental ones. 2) In a positioning control of the handling machine with relatively large friction, the proportional control scheme with compensation of friction gave much better control performance than usual PID control scheme. 3) Using the tested soft gripper, satisfactory grasping and carrying tasks were obtained, because the soft gripper had its inherent compliance

ヨケン セイギョ ニヨル エア サスペンション ノ トクセイ ト ジツゲンセイ ニ カンスル ケンキュウ

In recent years, active controlled suspensions have been vigorously studied as it can simultaneously satisfy both the ride quality and the driving stability for automobiles. In this study, the usefulness of preview feedforward control for the pneumatic servo type active suspension are investigated. Air suspension has an inherent buffering function due to the air compressibility, it also acts as an isolation filter for higher frequency vibration. Therefore, our task can be limited to the control for the lower frequency vibration only. In our previous studies, it has been confirmed that the state feedback controller was effective in improving the performance of vibration isolation. In order to realize such active suspensions in the near future, however, it is necessary to make the performance of vibration isolation better by taking account of front road profiles. In this paper, it was confirmed that the performance of vibration isolation for the active suspension could be remarkably improved, in comparison with those for the passive suspension, by means of a computer simulation. Furthermore, in order to establish this preview feedforward control method, it is required to construct the sensing system of the front road profile. In this study, we propose the position sensing system using a He-Ne laser beam and a PSD (Position Sensing Detector) device. As a result of investigating its fundamental characteristics, it was concluded that the proposed method was useful for sensing

サンジュウ トウリツ フリコ ノ アンテイカ セイギョ

The purpose of this study is to design and realize a digital control svstem stabilizing a triple inverted pendulum. The stabilizing control of a triple inverted pendulum is much more difficult than a single or double inverted pendulum. There is very little study on this control. The system tested consists of a triple inverted pendulum, a cart, an electric servo motor and a personal computer PC-9801RA. The results obtained can be summarized as follows : 1) Stabilized zone of a single, double and triple inverted pendulum are calculated for a maximum cart position of 0.9 m. When coulomb friction is ignored, the stabilized zone of a triple pendulum exists, but is is much smaller than those of a single or double pendulum. When coulomb friction is considered, there is no stabilized zone of a triple pundulum. 2) When a maximum cart position is 1.8 m and control input voltage compensating coulomb friction is 0.12 v, feedback gains with which a triple inverted pendulum can be stabilized for 12 seconds can be obtained by a computer simulation. In a real control system, however, a triple inverted pendulum can not be stabilized even for one second. Thus it is understood that the real time stabilizing control of a triple inverted pendulum is very difficult because of existing nonlinear friction

クウキアツ モータ オ モチイタ コウソク イチキメ セイギョ

There has been little study on the control system with pneumatic motors although pneumatic motors have some advantages : they are smaller and safer during times of overload than electric motors, cleaner than hydraulic motors and they have less effect of air compressibility than pneumatic cylinders because of smaller gass volume. The purpose of this study is to investigate whether pneumatic motors can be used in a high speed positioning. The pneumatic servo system tested in this study consists of a cart, a vane type or a radial piston type pneumatic motor, two electro-pneumatic proportional pressure control valves and a personal computer PC-9801RA. The results obtained can be summarized as follows. Posicast control scheme can give higher speed positioning than PID control scheme. The vane type pneumatic motor is better for a position control because its characteristics is not affected by a temperature compared to the radial piston type. The settling time of 0.6 second was obtained when the posicast position control was tested for the desired position of 1.4 m with the vane type motor. Thus we attained our desired end ; the average positioning speed higher than 2 m/s

テイサアツ デ クドウ サレル リュウタイ ゾウフクキ ノ カイハツ

Today a structual material of an aircraft tends to use a nonmetal material like CFRP (carbon fiber reinforced plastic) in stead of metal material to save the weight. Then, the electronic control circuit is more affected by electromagnetic noise, thunder, radar and so on. We consider that it is useful to use optical control signal in stead of electrical control signal in such an environment. For this reason, it has been desired to realize an optical servo system. An optical servo system is a novel control servo system in which a part or all of the electric or electronic components of present control system are replaced with optical components in order to break through the limit of present electronic control system. We aim to develop the optical servo system using a photo-fluidic interface which converts optical control signal to pneumatic or hydraulic control signal. We had investigated the photo-fluidic interface theoretically and experimentally. And we developed the interface that the differential output pressure was proportional to input optical power. However, output fluid power from the interface is too low to drive an actuator directly. Therefore we need to develop a fluid booster amplifier driven by very low differential pressure. In this paper, we developed and tested two types of amplifier ; single and double acting booster amplifier. This amplifier consists of rubber film as a flapper and nozzle. We investigated their static and dynamic chracteristics. As a result, we found that the double acting booster amplifier was more useful to amplify very low differential pressure. This has following advantages. 1) Drift of zero output differential pressure is small because of a common flapper. 2) This type is less sensitive to the temperature change because it is operated by the difference of input pressure. To construct the optical servo system using this amplifier is our next future study