가공 전선로 가설 시스템 구성과 혼합제어

This paper describes a scheme and the hybrid control together mobile/tension with two task, for the installation of a stringing electric cable. The installation system consists of three parts: a mobile system based on a dc motor equation, a tension system based on an equation of an ac servomotor and electric wire cable, and a hole control part with of acceleration feedforward to suppress the mutual interference of the two task. The proposed model for installation of a stringing electric cable is simulated and tested experimentally. In result, the hybrid control of mobile/tension is discussed as the response show up an effect for suppressing in mutual interface of two tasks and, its utility is verified.