2015 Fiscal Year Final Research Report
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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| Keywords | 空圧式除振台 / むだ時間 / 姿勢制御 / Smith法 |
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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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| Free Research Field |
制御工学
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