| Project/Area Number |
03555133
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| Research Category |
Grant-in-Aid for Developmental Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
資源開発工学
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| Research Institution | The University of Tokyo |
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Principal Investigator |
OKUBO Seisuke The Univ. of Tokyo,Faculty of Eng.,Professor, 工学部, 教授 (90092155)
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| Co-Investigator(Kenkyū-buntansha) |
AKIYAMA Masao The Univ. of Tokyo,Faculty of Eng.,Assistant, 工学部, 助手 (00011172)
西松 裕一 東京大学, 工学部, 教授 (70010741)
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| Project Period (FY) |
1991 – 1992
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| Project Status |
Completed (Fiscal Year 1992)
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| Budget Amount *help |
¥6,500,000 (Direct Cost: ¥6,500,000)
Fiscal Year 1992: ¥1,200,000 (Direct Cost: ¥1,200,000)
Fiscal Year 1991: ¥5,300,000 (Direct Cost: ¥5,300,000)
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| Keywords | Force-Displacement Control / Automation / Excavation Machinery / Hydraulic Ram / Computer Simulation / Laser displacement sensor / 岩石 / 掘進 / ロボット / 力・変位制御 / トンネル掘進機 / ブ-ムヘッダ |
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| Research Abstract |
Conventionally most excavation machineries were controlled manually. Recently, some have been developed which are controlled automatically. In most cases, the controlled variable is only displacement and by this method very accurate control is necessary. This results in a comparatively expensive control system and also very careful maintenance schedule.
In this report, the authors discussed on applicability of control method where a linear combination of force and displacement is chosen as the controlled variable.
At first, several displacement sensors were tested to select an appropriate one, and it was found that the laser-displacement type is suitable for the aim. In the next stage, two actuators(hydraulic rams) were tested to certify the applicability to force-displacement control algorithm. The second actuator which was made after modification considering the fundamental data taken by the first one revealed to be appropriate for our purpose.
The computer simulation has been carried out and it was found that by this control method the fine, rapid and safety control can be possible. Also, small scale model experiment was carried out successfully and the results, support the calculated one.
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