タケダ　マサカズ   Masakazu Takeda   武田　真和    所属   追手門学院大学  理工学部 機械工学科    職種   講師
発表年月日	2020/08/25
発表テーマ	接触力を受けるケーブルを有する機械システムの運動制御
会議名	Dynamics & Design Conference
主催者	一般社団法人 日本機械学会
発表形式	その他
開催期間	2020/08/25～2020/08/25
発表者・共同発表者	三上 真利亜,山本 武志,菅原 佳城,武田 真和
概要	The usage of unmanned aerial vehicles (UAVs) varies from construction inspection to disaster response. Cable attachment benefits the UAV with longer operation time and larger data transmission, while the tension, inertia, and contact forces of the cable work to disturb its operation. This paper introduces a numerical modelling method of a cable with frictional contact forces using an absolute nodal coordinate formulation (ANCF), and extracts and evaluates the influences of the cable on the mechanical system’s motion. The contacting cable length, that affects frictional contact forces, is derived using the catenary curve. The numerical analysis results present errors and vibrations at the connection point of the cable and the rigid body. These are the influences when the cable contacts the ground. In this paper, the compensation system, and its validity for mitigating these influences, using an unscented Kalman filter (UKF) to estimate the state of the cable, are presented. Although there was a small error in the mechanical system’s final position in relation to the target position, the numerical analysis indicated that the proposed control system stabilizes the mechanical system’s motion.
researchmap用URL	https://www.jstage.jst.go.jp/article/jsmedmc/2020/0/2020_545/_pdf