Makio Suzuki

Optimal Sequence Control of Automatic Pouring System in Press Casting Process by using Greensand Mold

In the present paper, the optimal sequence control to the tilting-ladle type automatic pouring system in the press casting process is proposed. At first, dynamics of the pouring process is modeled by using mass balance and Bernoullis theorem. By using the model, a conventional sequence control in the automatic pouring system is analyzed. Then, in order to suppress the splash of molten metal during the pouring motion, the pouring pattern which has two steps flow rate is used to reference pouring pattern. In order to perform the pouring motion at short times and reduce the error between reference flow rate and real one, the sequence control parameters are then optimized. The effectiveness of the present system is demonstrated through simulations and experiments by real plant

Weight control of pouring liquid by automatic pouring robot

Abstract This paper gives an advanced control system in tilting-ladle type automatic pouring robot. In a pouring process, it has been required that molten metal is poured precisely and quickly into the mold for improving the productivity and saving energy. Therefore, the pouring liquid weight control, which the weight of the pouring liquid is controlled precisely to the target weight, is proposed in this paper. In the proposed control system, the state of pouring process are estimated using Extended Kalman Filter, and the timing of tilting the ladle back is determined by the predictive equation to the pouring liquid. The effectiveness of the proposed pouring liquid weight control is demonstrated through the experiments using water to generalize the design procedure of pouring liquid weight control.

Path Planning and Motion Execution of Overhead Travelling Crane

Abstract This paper presents a method for path planning and motion execution of overhead travelling crane with three dimensional transport, considering the both of obstacle avoidance and suppression of sway for transfer objects. The present research is done based on a given geometrical map in environments for off-line application, as the basic step to establish autonomous mobile crane systems in future factory. A potential approach using a three-dimensional diffusion equation is applied to the present path planning. The moving direction and magnitude in each step are respectively calculated by the proposed vector-composite method and the allowable maximum values of acceleration and velocity constrained from hardware capacity.