CPGのみを用いた空圧式除振装置の安定浮上と流量外乱抑制

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2019/04/01

タイトル(英語): Stable Levitation and Flow Disturbance Suppression for Pneumatic Anti-Vibration Apparatus Using Only Central Pattern Generator

著者名: 柏崎　翔（東京農工大学大学院 工学府），涌井　伸二（東京農工大学大学院 工学府）

著者名(英語): Sho Kashiwazaki (Graduate School of Engineering, Tokyo University of Agriculture and Technology), Shinji Wakui (Graduate School of Engineering, Tokyo University of Agriculture and Technology)

キーワード: 空圧機器，振動制御，記述関数，流量外乱，CPG　　pneumatic equipment，vibration control，describing function，flow disturbance，central pattern generator

要約(英語): The authors have pursued the application of Central Pattern Generator (CPG) in order to suppress flow disturbance caused by pressure variation of compressed air supplied to pneumatic anti-vibration apparatus (AVA). CPG has been used to improve performance by implementing it in the control system of walking robot. However, in any relevant documents, CPG was implemented in addition to stabilizing compensators. Meanwhile, this paper shows that the control system using only CPG can realize the stable levitation and the disturbance suppression simultaneously. In addition, the stable levitation by the proposed method is verified based on describing function.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.4 （2019） 特集：スマートシステムと計測・制御技術

本誌掲載ページ: 482-483 p

原稿種別: 研究開発レター／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/139/4/139_482/_article/-char/ja/