| Project/Area Number |
23760205
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Dynamics/Control
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| Research Institution | University of Yamanashi |
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Principal Investigator |
NODA Yoshiyuki 山梨大学, 大学院・医学工学総合研究部, 准教授 (60426492)
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| Project Period (FY) |
2011 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2012: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2011: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | 自動注湯ロボット / 流量制御 / カルマンフィルタ / フラットネスベースド制御 / 充填重量制御 / 落下位置制御 / 液体カメラ計測 / 制御応用 / 数理モデル解析 / 鋳造設備 / 注湯流量制御 |
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| Research Abstract |
In this study , the pouring control system which the flow rate controlis installed as the core control system has been developed for pouring precisely and quicklythe molten metal into the mold for a tilting-ladle-type automatic pouring robot used incasting industry . In this approach, the flow rate estimation system has been designed byKalman filter , and the flow rate feedback control system using the estimated flow rate has been constructed. Furthermore, high-precision outflow weight control system has beenrealized by integrating systematically the outflow weight control with the flow rate controlas the core control system. In order to pour precisely to the target position, the fallingposition control system has been developed.
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