Development of Pneumatic Anti-Vibration Apparatuses with Six Degrees-of-Freedom Considering Time Delay
| Project/Area Number |
25420178
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Okayama University (2015)
Tokyo University of Agriculture and Technology (2013-2014) |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
WAKUI Shinji 東京農工大学, 工学(系)研究科(研究院), 教授 (70334472)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2015: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
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| Keywords | 空圧式除振台 / むだ時間 / 姿勢制御 / Smith法 / 空圧式除振装置 / 圧力モード制御 / 運動モード / モード制御 / 空気ばね |
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| Outline of Final Research Achievements |
This paper considers dead-time compensation and attitude control of pneumatic anti-vibration apparatuses. First, we propose the tuning method of model of apparatuses and setting method of time delay in a Smith predictor. Then, in order to avoid the rotation of the apparatuses due to dead time, we present the attitude control method, which employs reference shaping. The effectiveness of this method is demonstrated by experiment. Finally, we consider the bandwidth expansion of pressure control system of anti-vibration apparatuses under the condition that the dead time exists. It is shown that resonance and anti-resonance can be suppressed by using Smith prediction and relative displacement derivative positive feedback, resulting in the expansion of control bandwidth.
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Report
(4 results)
Research Products
(12 results)
