Oscillation Control of Suspended Load with Flywheels
Oscillation Control of Suspended Load with Flywheels
复制标题
飞轮悬挂负载振动控制
DOI：
10.1541/ieejias.125.548
复制
发表时间：
2005
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
T. Tsuji;K. Ohnishi
本研究是关于一种应用飞轮的姿态控制装置。飞轮的反作用扭矩被施加用于悬浮负载的振荡抑制。提出了一种姿态角速度的无传感器估计方法。带通滤波器从飞轮转速中提取包含各种误差的振荡速度分量。扰动观测器消除了车轮上的稳态误差。由于干扰观测器是针对低频范围的，因此不干扰角速度估计。这种姿态控制装置是方便的，因为它需要最少的校准时，它是重新安装在各种悬挂负载。实验结果表明了角速度估计的有效性和振荡抑制的有效性。
This study is about an attitude control device applying flywheels. Reaction torque of a flywheel is applied for oscillation suppression of a suspended load. We suggest a sensorless estimation method of the attitude angular velocity. The band pass filter extracts the component of oscillation velocity from flywheel rotation velocity that contains various kinds of errors. A disturbance observer eliminates the steady state error on the wheel. Since the disturbance observer is for low frequency range, it does not interfere to angle velocity estimation. This attitude control device is convenient because it needs least calibrations when it is remounted on various suspended loads. The experimental result shows the validity of angle velocity estimation and the validity of oscillation suppression.