Author:
Hamamatsu Hiroshi,Tachibana Toshiyuki,Hitaka Yasunobu,Furuno Seiji,Matsuo Takayuki,Futami Shigeru, , ,
Abstract
In flexible structures such as a stacker crane, vibration is generated by the high acceleration of the traveling axis in the load transportation slider. Vibration suppression is necessary for productivity improvement. We utilized the acceleration feedback control for vibration suppression. The flexible structure has several natural vibration modes of varying phase, and vibration suppression is difficult by the simple feedback control. The second mode is excited by the simple feedback control for the vibration suppression of the first mode when the phase between the first mode and the second mode are different, e.g., a flexible structure. This paper proposes a filter design by adjusting the common phase for the feedback control. The filter using the operational amplifier reverses the phase of the second mode and such that it is the same as the first mode. The effect of vibration suppression is verified by the experiment.
Publisher
Fuji Technology Press Ltd.
Subject
Industrial and Manufacturing Engineering,Mechanical Engineering
Reference20 articles.
1. H. Hino, Y. Kobayashi, T. Higashi, and J. Ota, “Motion Planning Method for Two Stacker Cranes in an Automated Storage and Retrieval System,” Int. J. Automation Technol., Vol.6, No.6, pp. 792-801, 2012.
2. K. Tsujimoto, “Transition Toward the Highly Advanced Technology for Automated Warehouse System,” Int. J. Automation Technol., Vol.1, No.1, pp. 7-10, 2007.
3. K. Iwasaki and T. Usui, “Vibration damping device at stop of travel for stacker crane in automatic warehouse,” Unexamined Patent Publication No.2001-88909, 2001 (in Japanese).
4. T. Fujioka, F. Y. Cao, M. Kitaura, T. Maeda, and M. Yamamoto, “Damping method of the stacker crane,” Unexamined Patent Publication No.2010-030728, 2010 (in Japanese).
5. M. Takahashi, S.Kinoshita, M. Goromaru, Y. Kawasaki, and Z. Iwai, “Vibration Suppression of Systems with Unknown Parameters by Perfectly Inelastic Collision,” Trans. JSME C, Vol.73, No.734, pp. 2678-2683, 2007 (in Japanese).