Authors:
Yuta Sueki
and
Yoshiyuki Noda
Affiliation:
Department of Mechanical Engineering, University of Yamanashi, 4-3-11, Takeda, Kofu, 400-8511 and Japan
Keyword(s):
Pouring Robot, Flow Rate Control, Extended Kalman Filter, Gain-scheduled PID Control.
Related
Ontology
Subjects/Areas/Topics:
Human-Robots Interfaces
;
Informatics in Control, Automation and Robotics
;
Mechatronics Systems
;
Robotics and Automation
Abstract:
This paper describes the advanced control technology for the tilting-ladle-type pouring robots in the casting industry. In the pouring process in which the molten metal is poured into the pouring basin of the mold by tilting the ladle, it is difficult to pour the molten metal as desired pouring flow rate by the operator. Because the pouring flow rate is manipulated indirectly by manipulating the ladle’s angle. In order to solve this problem, in previous studies, we developed the direct manipulation system of the pouring flow rate in the pouring robots. However, the error between the desired and the actual pouring flow rate can be caused by the disturbances in the pouring condition. Therefore, in this study, we develop the pouring flow rate feedback control for improving the tracking performance. In this approach, the pouring flow rate can be estimated by using the extended Kalman filter, and the feedback controller can be constructed by the gain-scheduled PID control based on the est
imated flow rate. The developed system is applied to the laboratory-type pouring robot. According to the experiments, the operator can manipulate the pouring flow rate as desired, even in the pouring condition with the disturbance.
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