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Development of High-precision Pouring Control System Based onMathematical Analysis of Pouring Process and System Integration

Research Project

Project/Area Number 23760205
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Dynamics/Control
Research InstitutionUniversity of Yamanashi

Principal Investigator

NODA Yoshiyuki  山梨大学, 大学院・医学工学総合研究部, 准教授 (60426492)

Project Period (FY) 2011 – 2012
Project Status Completed (Fiscal Year 2012)
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)
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
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.

Report

(3 results)
  • 2012 Annual Research Report   Final Research Report ( PDF )
  • 2011 Research-status Report
  • Research Products

    (27 results)

All 2013 2012 2011 Other

All Journal Article (7 results) (of which Peer Reviewed: 6 results) Presentation (14 results) (of which Invited: 2 results) Remarks (3 results) Patent(Industrial Property Rights) (3 results)

  • [Journal Article] 液体容器搬送システムにおける振動予測手法を用いた傾動をともなう制振搬送2013

    • Author(s)
      渋谷涼太
    • Journal Title

      計測自動制御学会論文集

      Volume: 49(1) Pages: 134-141

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 取鍋傾動式自動注湯機における取鍋から流出する液体の落下位置制御2012

    • Author(s)
      野田善之、福嶋隆輔、寺嶋一彦
    • Journal Title

      日本機械学会論文集(C編)

      Volume: 78巻, 794号 Pages: 3446-3458

    • NAID

      130002051583

    • Related Report
      2012 Final Research Report
    • Peer Reviewed
  • [Journal Article] 取鍋傾動式自動注湯機における取鍋から流出する液体の落下位置制御2012

    • Author(s)
      野田善之
    • Journal Title

      日本機械学会論文集(C編)

      Volume: 78 Pages: 3446-3458

    • NAID

      130002051583

    • Related Report
      2012 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 液体容器搬送システムにおけるモデル予測制御を用いたスロッシングの抑制2011

    • Author(s)
      岡塚 尚,渋谷 涼太,野田 善之,松尾 芳樹,寺嶋 一彦
    • Journal Title

      日本機械学会論文集C編

      Volume: 77,783 Pages: 4068-4080

    • NAID

      130001433488

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] Flow Rate Control Based on Differential Flatness in Automatic Pouring Robot2011

    • Author(s)
      Yoshiyuki Noda,Michael Zeitz,Oliver Sawodny,Kazuhiko Terashima
    • Journal Title

      Proceedings of 2011 IEEE International Conference on Control Applications

      Volume: - Pages: 1468-1475

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] Flow Rate Estimation Using Unscented Kalman Filter in Automatic Pouring Robot2011

    • Author(s)
      Yoshiyuki Noda,Markus Birkhold,Kazuhiko Terashima, Oliver Sawodny,Alexander Verl
    • Journal Title

      Proceedings of SICE Annual Conference 2011

      Volume: - Pages: 769-774

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] Advanced Control Systems for High-precision Automatic Pouring Robot2011

    • Author(s)
      Yoshiyuki Noda,Kazuhiko Terashima,Makio Suzuki,Kazuhiro Ohta
    • Journal Title

      Proceedings of the 4th Korea-Japan Conference for Young Foundry Engineers

      Volume: - Pages: 138-140

    • Related Report
      2011 Research-status Report
  • [Presentation] 取鍋傾動式自動注湯機のプロセス解析と高精度化2013

    • Author(s)
      野田善之
    • Organizer
      日本鋳造工学会第162回全国講演大会
    • Place of Presentation
      山梨大学(甲府市)
    • Related Report
      2012 Annual Research Report
    • Invited
  • [Presentation] 取鍋傾動式自動注湯機のパラメータオンライン同定と注湯制御の高精度化2013

    • Author(s)
      辻高明
    • Organizer
      日本鋳造工学会第162回全国講演大会
    • Place of Presentation
      山梨大学(甲府市)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Outflow Liquid FallingPosition Control by Considering LowerLadle Position an Clash Avoidance withMold2012

    • Author(s)
      Atsushi Ito, Y oshiyuki Noda, KazuhikoT erashima
    • Organizer
      Preprints of IF AC Workshop onAutomation in the Mining
    • Related Report
      2012 Final Research Report
  • [Presentation] Simplified Flow Rate Estimation byDecentralization of Kalman Filters inAutomatic Pouring Robot2012

    • Author(s)
      Y oshiyuki Noda, Kazuhiko T erashima
    • Organizer
      Proceedings ofSICE Annual Conference 2012
    • Related Report
      2012 Final Research Report
  • [Presentation] High-precision Falling Position Control to Outflow Liquid from Ladle in Automatic Pouring Machine2012

    • Author(s)
      Yoshiyuki Noda
    • Organizer
      World Foundry Congress 2012
    • Place of Presentation
      Monterrey, Mexico
    • Related Report
      2012 Annual Research Report
  • [Presentation] Simplified Flow Rate Estimation by Decentralization of Kalman Filters in Automatic Pouring Robot2012

    • Author(s)
      Yoshiyuki Noda
    • Organizer
      SICE Annual Conference 2012
    • Place of Presentation
      Akita University (Akita, Japan)
    • Related Report
      2012 Annual Research Report
  • [Presentation] Sloshing Suppression Control by using Physical Boundary Element Model and Predictive Control in Liquid Container Transfer System2012

    • Author(s)
      Hisashi Okatsuka
    • Organizer
      9th International Conference on Informatics in Control, Automation and Robotics
    • Place of Presentation
      Roma, Italy
    • Related Report
      2012 Annual Research Report
  • [Presentation] 傾動式自動注湯機における低位置注湯と鋳型衝突回避を考慮した溶湯落下位置制御2012

    • Author(s)
      伊藤敦
    • Organizer
      日本鋳造工学会第160回全国講演大会
    • Place of Presentation
      名古屋市中小企業振興会館(名古屋市)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 自動注湯機における注湯流量制御2012

    • Author(s)
      野田善之
    • Organizer
      日本鋳造工学会第161回全国講演大会
    • Place of Presentation
      いわて県民情報交流センター(盛岡市)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 取鍋出湯口形状を考慮した低位置注湯動作の生成と液体落下位置制御2012

    • Author(s)
      伊藤敦
    • Organizer
      日本鋳造工学会第161回全国講演大会
    • Place of Presentation
      いわて県民情報交流センター(盛岡市)
    • Related Report
      2012 Annual Research Report
  • [Presentation] 取鍋傾動式自動注湯機の高精度化を実現する制御技術2012

    • Author(s)
      野田善之
    • Organizer
      日本鋳造工学会関東支部講演会
    • Place of Presentation
      山梨大学(甲府)
    • Related Report
      2012 Annual Research Report
    • Invited
  • [Presentation] 傾動式自動注湯機における低位置注湯と鋳型衝突回避を考慮した高精度流出液体位置制御2012

    • Author(s)
      伊藤敦,野田善之,寺嶋一彦
    • Organizer
      日本機械学会東海学生会第43回学生員卒業研究発表講演会
    • Place of Presentation
      名古屋工業大学
    • Related Report
      2011 Research-status Report
  • [Presentation] Flow RateControl Based on Differential Flatness inAutomatic Pouring Robot2011

    • Author(s)
      Y oshiyuki Noda, Michael Zeitz, OliverSawodny , Kazuhiko T erashima
    • Organizer
      Proceedings of2011 IEEE International Conference onControl Application
    • Related Report
      2012 Final Research Report
  • [Presentation] フラットネスベースド制御による自動注湯ロボットの注湯流量制御2011

    • Author(s)
      野田善之,Michael Zeitz,Oliver Sawodny,寺嶋一彦
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      京都大学
    • Related Report
      2011 Research-status Report
  • [Remarks]

    • URL

      http://www.me.yamanashi.ac.jp/lab/noda/

    • Related Report
      2012 Final Research Report
  • [Remarks] 研究室ホームページ

    • URL

      http://www.me.yamanashi.ac.jp/lab/noda/

    • Related Report
      2012 Annual Research Report
  • [Remarks]

    • URL

      http://www.me.yamanashi.ac.jp/lab/noda/

    • Related Report
      2011 Research-status Report
  • [Patent(Industrial Property Rights)] 注湯制御方法及びコンピュータを注湯制御手段として機能させるためのプログラムを記憶した記憶媒体2013

    • Inventor(s)
      野田善之、辻高明、鈴木薪雄、寺嶋一彦
    • Industrial Property Rights Holder
      山梨大学、新東工業株式会社、豊橋技術科学大学
    • Filing Date
      2013-04-27
    • Related Report
      2012 Final Research Report
  • [Patent(Industrial Property Rights)] 注湯制御方法及びコンピュータを注湯制御手段として機能させるためのプログラムを記憶した記憶媒体2013

    • Inventor(s)
      野田善之
    • Industrial Property Rights Holder
      山梨大学,新東工業
    • Industrial Property Rights Type
      特許
    • Filing Date
      2013-04-27
    • Related Report
      2012 Annual Research Report
  • [Patent(Industrial Property Rights)] 注湯制御方法及びコンピュータを注湯制御手段として機能させるためのプログラムを記憶した記憶媒体2012

    • Inventor(s)
      鈴木薪雄、寺嶋一彦、伊藤敦、野田善之
    • Industrial Property Rights Holder
      新東工業株式会社、豊橋技術科学大学
    • Filing Date
      2012-03-12
    • Related Report
      2012 Final Research Report

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Published: 2011-08-05   Modified: 2019-07-29  

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