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03_全方向移動車の速度制御方法の比較検討
https://sangitan.repo.nii.ac.jp/records/40
https://sangitan.repo.nii.ac.jp/records/4087b148c8-1add-473d-a72a-0f379e0db60d
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
vol56_03_研究論文_畑迫_p19-25 (1.2 MB)
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| Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2023-03-01 | |||||
| タイトル | ||||||
| タイトル | 03_全方向移動車の速度制御方法の比較検討 | |||||
| 言語 | ja | |||||
| タイトル | ||||||
| タイトル | Study of speed control method for omni-directional moving vehicle | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | jpn | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | 研究論文 | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | PID control | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | speed control | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | omni-directional moving vehicle | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | autonomous driving | |||||
| キーワード | ||||||
| 言語 | en | |||||
| 主題Scheme | Other | |||||
| 主題 | ROS | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | departmental bulletin paper | |||||
| 著者 |
畑迫, 健一
× 畑迫, 健一× Hatasako, Kenichi |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | An omni-directional vehicle was fabricated and the speed control method of the omni-directional vehicle was evaluated and examined. The speed was calculated by attaching a rotary encoder to the motor and measuring the number of revolutions of the motor. Two types of evaluation were performed: evaluation for a constant speed command value and evaluation when the command speed was changed. In both evaluations, feed forward (FF) control, FF + proportional (P) control, and FF+P integral (I) control improved in the order of fidelity and response speed to command values. We were able to confirm the effect of feedback control on omni-directional vehicles. Regarding the experiment and evaluation, I wrote a part of the content that the students implemented in the class of the graduation training in the 3rd year of Reiwa in this paper. |
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| 書誌情報 |
産業技術短期大学誌 en : BULLETIN OF COLLEGE OF INDUSTRIAL TECHNOLOGY 巻 56, 号 １, p. 19-25, 発行日 2023-03-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 0916-3727 | |||||
