hiEf&;+

3:/)(‑)‑LiHl3BLJi)Lido,;‑2.;,‑H=?L,T3iuJq{8. mr{ti&frJL;BEA^2.5.1 E!T)‑7F.i;a,V= ^a:5 ^E=, ‑f.lJLH

･i5.C=i‑.I.L,Ti;I;l=^IL‑llL;1Irr'TJTtq]'{tHi:y/(7‑A^7aj=5 ^E=7)‑,?a.

*fi.a,A,ckUh,S%B,%%41%h (xstart,ystart,zstart)^[m], (rend,yend,lend)^{[m] i 1 8 i 5Fi57}6]}

q)#iXgEBC ^{Hd Li}Eq.(2.28),S$7=6JD#3XgEB# ^Zd 8iEq.(2.29),iWmEEIS!8=ib‑ij‑8 ^Y 〜

%#3X75‑r58= ^Z #%*JIL,8=F*i; Lr=j5EFR ^{Od Li}Eq.(2.30)^tf38.

Hd‑

(Tend

^‑

Xstart)2

⁺

(yend

^‑

ystart)2

Zd ^‑ lend ^‑ Zsla,I

Od ^‑ _arCtan

Tend ^‑ Xstar(

yend ^‑ ystart

:)(E=1Ti‑Ln7j‑rr'7J(I^JsL} ZJ1:JrijB.Ii)i;LIii7,,7j!b^73. W3'{L3B.Ii)LiDLi^2.5.2 ,)1L^!TJLrLTt^i,‑i&Jif=^A:5 C=JuH jAiLir.H.I,JJ‑tikL*̲rIF.1,i7[jRihrxl̲FL"'Jh'l3^fj:ZG). L,f=hST) TJ)H3Ar*‑̲m, i)ljRikr*‑̲m8i^2.5.4 ,J,fiTJIT1 ,R3:? ^7t, BSfJfLWSrJbDigFFR*‑7h%jEu,I‑&=+18.

JJi:.1diri%lLruu)LLl‑:Itr[.Jty)Jid)ZGHe1‑ijtJ/'tb^73.

,1!3f?7T=ik)if*‑7ho)I.rl‑J#'*%I(I)^{i 18 tJJi:}

3gBFBg)BSFu8i Eq.(2.31)^tr38.

t2‑t1‑

(Hd

^‑

^2I.〜 f(i)dt)

tiarget (2.31)

I I rE.

2./.I̲:../‑(

^I),]I(i JfJJi(JJu)M"t3]ULTiAig:'ltTHtll,]J'uⁱ T.0)lf3r{Li&'(,:&LIr:‑‑^{i ,}i)..&i4irF‑I,",Jb,6Ji'.tU BSFN3f?>0)#32gEA#%E ^{L,r= A a)} t% ^L,U'. #iXigtiEL2 Eq.(2.32),Eq.(2.33),Eq.(2.34)

0)j= 5 t=r38.

Ltf(i,dt‑LtLtg(ai.1ti,(i.1,dt2 ^(io5‑t1,

Ltf(i)dt

^‑

Ltw‑getdi ^(t1

^{< i <}

ⁱ²⁾

Ltf(i,dt‑‑LtLtg(ai.1ti,(i.1,dL2 ^(i25‑tend,

(2.32)

(2.33)

(2.34)

2.6 1ITili^> ^Tll)'/91'Sr]ap5;.6* 43

2.6.2

3;RJFt#iX

#5SSifO)E'&rS%/jVf=b 8=, tEqrJSf]/mka:8[XfEi*bSr]WA, ^)l‑1, 7P.).y 7ih5!#3 u:‑^(I

Lk ,3i‑)lip)[T;.JJ

t1:TJ#+R:‑'

^], ih'tt;,ifiO)I:Jj^lL}:rS.J..uur=:I..‑rJtBTg:^EI _{a: ,3}it(Jk‑[1'qlr{LjB[f..‑rJaJr);i.5.;:i:ri‑]‑.^{7 JT;.}

= ⁼ 7?), #3ZA[#8i (0.51,_0.do,o.21)[m] DIXfE%*B,a,, *B.a,A,6 ^x. *b7}rW= o.o7[m],

Y. *b7=6]L= 0.24[m] ^{i LT Z.} *b7}6J8= 0.24[m] #& ^L,r' (0.58,0.24, OA5)[m] 0)IBfE%

,S%,a,ⁱ ERJLia L, f=.

Lt(1ui'l;‑uialJg:7?tCi,I‑)i?ji:T‑‑i.i;‑t171'll9TJ:mJh,i‑^!l:I^L,<^rd‑8 A:^I) I.=lt(9‑lJ,it/>i:y (;I,^‑ (i.1i L2;'lJJt^{L f;.} [f;‑I)I(1](I.f'iiu)rLriT[JlluiJr))yxi:r4..riJ,i:3‑⁷³ 7T=a, FFT I.'J,'JW‑t')IIL ,I I...‑fI)16ihgkt,}J!

br=#EB!, 3.90[Hz](24A9[rad/s])?hb?^7t. = 0)B1%&&&%jgu,, }lJ{7)1.).y Ti15fBgJf3 1If8=j= 9G*hqPSr]='/ ^h tj‑9%;&JLa+L,7t. ^{Fig. 2.34 ‑ Fig. 2.36} 8=h*hgPSr]=,/ ^h

tj‑9%Jh'7t ^{a i 0) 6} a EbEFLR7= ^{tio1 L,‑9} 0)%*0)ig&#aBi%,j%1.

:i:fJl‑IJi1‑lTf‑.;i:‑^{l= a:}_,.a:I;‑uf1‑]J?;iJ[.Tit)!qo:JLiLn!a)ll:J'iiX.I.:JL3B^, i4i.)j1:^{A ‑ 713‑}

ckUt;uuigi‑]l.i^]]‑ 7t&1YFig.

2.37 8=, 3:f=5;BMX7o‑>tO) CFD%Fig. ^{2.38 ‑ Fig. 2.40} (I,ji1. ^{a =?,, Fig.}

2.37 0)j;,S& 6R#% ‑a,SB,#z5Li%41%hBf,fLWSr]Sr]LM, ),J1 7"7).y T{h5!fE3if,i LT i‑[[ylJJl;‑uTIW=a:^7LDi‑I:Jr{tjB.I.:JL.iB}:y_,JiL I U. ^ZG).

Fig. 2.38 i Fig. 2.40 8=j%1tEWUSrJW i.WJ5WSr]Sr]'mo)5;J6*#EB!b, 6 , B&3ZBSFBb,iS L <

,.f.JLjB^5.1.&fflJ‑^ckUJ)LTiifJIJ)Si;.r'l.^{Lt,i),‑Eta573 0) (Ii} IlJJb^i‑,‑9it,i‑[IgIJ;liu'fBJTlil7yiii:;13

*?i&1i%#LTU'80)b',bb,8. 3f7t _{Fig. 2.39} i Fig. 2.40 0))l‑f7P.).y Tih5gJf3ift i.L'tit,iEJn)Tf;‑u

['Z;‑TJfAll0)ri;).!j[;flo:.'i.jT'fJ,^Lt,, f[1iD.‑Ju:fiufllJi:y7J‑.? I i,i(M;i).,tih'n8 ^I i i)llif,,,1,.i^l=IiJ(f.:.‑i‑.iJ.T1 Ere.

44 a ² j% ⁶ a &F*7=tiol L'‑9%jqL,f=iBimm]EJiIJ$ljW

i

⁴⁰

O

i 20

‑J n

1 1.5

0 0.5 1 I.5

Time [s]

rg loo

b

q}

1 50 'bT

,i 60

EZ) LrJr.

.ll.

TC‑

20

I

cbV' 0

E5]

0 0.5 I 1.5

Efg]

0 0.5 1 I,5

Time [s]

Fig. 2.34 Experimental results of each angler^{velocity of 6DOF} manipulator by the propor‑

tional control

EJ)

Tb

q>

TT)

Q

40 20

0 0.5 1 1.5

0 0.5 1 1.5

Time [s]

80

,I 60

S40

4)

lti 20

'cbtn 0

̲20

0 0.5 1 1.5

0 0.5 1 1.5

0 0.5 1 1.5

Time [s]

Fig. 235 Experimental results of each angler^{velocity of 6DOF} manipulator by the hybrid shape approach

.:.h ^,/.I.'t:

.. :: Ill.:.::I":./. .I.:.

q5

Tsb

q>

TO a‑

40 20

TED

O b .br1

̲5

0 0.5 1 1.5

0 0.5 1

Time [s]

80

r= 60

TSh 40

i

_.:.I

Qn 0

‑20

I I.5

0 0.5 ¹ I.5

Time [s]

Fig. 2.36 Experimental results of each angler^{velocity of 6DOF} manipulator by the proposed method

Il 0.3

A

cl ^0.2 O

‑

'a o.1 0 FL1

0

qB

i

^o,4

･5..2

⁰

8

.

i

d O cBh C>

U O O

<

Time [s]

Tine [S]

Time [s]

Fig. 2.37 Transfer path by the each controller

46 #2$ ⁶ E]Eb&7=tfl L/‑9%jgU,f=#ihmfMSuW

0.00[s] 0.30[s]

0.40[s] 0.50[s]

0.60[s] l.20[s]

Figp 2.38 Experimental result by the proportional control

2.6 i@l*)1> Titl)>9'1$lJWjSB* ⁴⁷

0.00[s] 0.40[s]

0.50[s] 0.60[s]

lint̲̲i

^̲

0.70[s] 1.20[s] i;i

Fig. 2.39 Experimental result by the hybrid shape approach

48 3 ² j% ⁶ BdjF57=tfl L'‑9%jqb'fciiiihm]SIJ*uW

0.lO[s] 0,40[s]

0.50[s] 0.60[s]

0.70[s] 1.20[s]

Fig. 2.40 Experimental result by the proposed method

2.7 5ftb ₄₉

2.7 2t6b

lil,‑)FJluLTt(i^CFD _‑>i ⁱ L,‑ 9 ilyl‑{iLIJLJ=lI.l3&(E^{i LT,} r1‑.hJT=tlli1);Lf!ll//J]7:yin:tE‑Ft B&iX18 = t%q8Et18i@i*)l'J TI 1)〜/91'SrJJm‑>xjli>D?#7#%11? ^7t. Bii@IEPRq Eig?18j:.aiiifL%<+)Vj1_‑IG ⁱ L,TEiEIE ^L, 1tf5P < , A,?i@1io).#.7,fL%WSr]18#

i&fT:)L;Bo)‑'T.qILI̲J.i:rfJ‑‑?^{f=. I} 0)i Elrl3&(E7)Ljt1) XliJ=LL ^{i,? i} i,rL;< I,hb4.LTL,

･3:Tu[L:n'.)7^{)L jt T)}‑^1h&LYldaJflLTlll;d[E#a:I(=f7^f=. #JiL‑qii L/T, H;‑rJfa"ghi‑ill.i.I‑E=i,it(1([f.I,,Ti 1'JT._,> I 1 L,‑ 9 i:,i:):)lJL,7T=lll;&l(Er7u!Ei‑i:,i':u3>3AL,^{I i E=}a:E). i11=id‑)uTf;‑[J'd.]fAWj[i̲;.[',tUtb [l;‑u'd‑]JA^I. (iI){T.)I.(l'iTJD?^f=,J,LFu',!fil:i^E=J= ,5i[n'ti,iiJ.nJ)T1;‑ui(Ik();1fJ'liBi:rJjLifflL f=.

51

#3$ ^9ttJ{hR L7o5./‑>ti,q)&i5a4 tHi5T{3E^h 0)* ^dj

3.1 #f

i:il(r‑:,^J'fi:r‑)J^II_r'‑}L?(iC W i ‑TZJ:}1'i/II:cL‑‑9M,0).I̲A33uLlfl"i‑LT.._Jt3'tJ{)IA LhS7T‑b41TL ^,73.

Jt9"/ JJ 7J‑ i (i 7ll'9>.)ti, rLUEil‑J̲E=fJ;,;ii.uLi:ylL[TLib/bT.9g.I"r.lit.i+i),;I,̲;:1⁷³S.Lj.‑;uJ)..I1:a)^I i ^&LY

i‑R>t)‑.911i _‑)IA 7‑Et)( i'i;:I:̲I̲;‑'i8=3im r=S̲LjSiiitl:‑TtA ^E), I)‑ilftf!.fi:Fl^a:< Jf̲fii#̲)r.)A);.iET.hUEjL).1 8 a tb'i?>%, i 68=*BJtb'i%nu'?1, mWbDI%LEBt L,r3U,f=b, ftJ;.4!*q%ttE

*RLTWm%mn18 ⁼ tb'i7?,%8r3 Zfhg)S < D*[]]5,%fS?. ^L,A, L,r3i)q, 7o9 ^,/

‑>ti, (I ck^,1J)r‑:^rE. ]}'̲liri^C=it'ifii;i‑&1,I..(,..‑ik‑idJl'i1^{73 T= a,} l'.'q;i(a)^yiAi iAbl= _ck^7J17.1;DH:yilP IAbnO i)1.tlE!f:̲^L, :9N7'0).J'6i)̲'il=(S6Tj fJ]t.i^{I'.73 fJ:}ifq))(Jr:..:h'ia5^7J.

I 0)J= i ^rJ:9"‑I JJ71 I‑0)I)(F:(l'(I:Jjrr‑.kJ‑;jit^LT, 7o9 > ‑)ti.0)u)1Tl;‑rJi8lJh',tBLjitLB4t8.

9V*x I‑7‑>'/0)3g*8=ck ⁹, SiW37o9 >‑yhi7igjFRSr]/mb'iqSE8=f3? ^Tb,8b,i, 9g

liil:llli,i‑^rLT.(i7JICk ^{i Tt g)}, TJi']1f^{I‑‑.;i:T3'JJtiiJ}(ltjA I(,Tl'.‑.Lrir3'JJtit7J...I,.,li4i^E=all)I‑F8 2 i̲LlrSt.73ii)̲.iffilJ'fJIJ

(Ify!^{3:‑, I L,}_,p50)h'q:il:f){LTta5_,‑5. ^I 4t(ilLJi^3*DiJuI'L:‑A‑Lit. ItLfI.,.lfll:(j{1Jlt#'U.J̲rJJ.:,.:l50)^L'Ju (ETt^{g7j: L} 'l‑i,,iJ'‑)‑rlTt)'ES'‑T‑‑̲1^{73 I i i],i:',} 1'=}_{y ‑>1}i,.1di)i.;.!lJ,t&LYilif,I;I(‑iTLO)*If,t!i5!ⁱ [P)a)7>⁸⁼

t)firb^{TIJ‑ E). J=E)}S < ^{〜) i9 } ‑} 9.!J.I,1L3!:fht,'JZ,‑,llti ^tic?3 SE̲'l[Sf.7iAi)!i[ikLJ,if#LY:I..g,‑))I.fl'‑5 ^I i i)tir/'f)I([Jd‑^{f=d) Tt5)73.} _‑?⁰⁾r= b, ^yL+c*;A3nt!0) )Jeff‑‑̲}iJr;/J‑^fi‑.1^7a lll3&fdll.:^hu;‑]‑‑4‑)^4.i

Tt ^'73 i (i. ;iL>d:1,3: 7T=, I 0)

ck5 rdEl.U‑J‑.(1‑‑',3lIJiC.Ij=E)!I:̲),̲F1(:;JIJ'1'J:,tglr!u4:3=A I‑0)I..Y.,lJHi)I.I )(^f fd:l['L.i,rb3i ^rd‑7 I L"5 f=b, J=E).'lLIII!.I'T'Jrd:i'[.:rrfalJ7Jjii:‑o)I)FJYEi)'i'Z1‑̲r)1ti = 4tT L〜‑5.i:ll (̲JIrLTtEi9"1 * ^7, 1‑E=JsL'T i

I..I:,I.I..I.'f'i(Eh',tt!!̲jf4tTSs^{E), a:E)}3&L))rJ:7r‑I,^> ‑>ti7iAi)i.'r;‑u fl‑]J}:yI(lii I i Ei'Z'̲r;LHIJ:JJ/}(TtB^73.

fJtf*^{3:rE.(I9tlj i) A 1‑}i;Ii:lu=IJ‑L}^ZED%[i,1.I)([:(['1E=I.u‑T?aTUFJluJi̲S< 7ib4t, JJ<tj=1)L i:y)I)^L'Tl].IllLiLLJ'I:]Jt,1j‑i

,3.'bh''tr.,‑"r.'iTJ1^0)J,.r!‑3,?tl!.I.io)."J[.,I/N^{9tlj JJA r,A} 1)‑7lFjwI/r‑;i:1Ji

;ELf[i7ll:Li'fil=I‑1'‑.‑)i'iED‑I).?;ML.!.a);ill.'rlft&1,^I(i:5 ^rd:tli.)2J,,

rJ7r7FluJtwJ.‑‑

^{]92ThirJ:E 4 tf=.} ‑ ‑7Tj7:tj&iT:̲

7:ted:,l7Zi)hr.i,0)rt,l'.fJlⁱ :Ii);‑I(:‑:,;.‑)U4ti‑q))〜I_‑̲i:yI^{Irr'Ji L,I,} SLi‑:iG^CAE i:yt.TT‑)n LJ=(I‑JFJ4uLt,S <

/(ilJ]4tT‑i¥TL "p5. f.L'::lil^CAE ty[.bJ[JIZE'^I i E= j=E)Ithfl.I.‑Tt'Jii"Li*E41..f!,t[it*tJ:Eo)i!iiW;.

rd:(f'J,'Iif)7.i)1.1^L'JfJ.E^{i rj:ZEDI i} &1,T‑rJ)IIL. iu'‑:‑:.a^CAE O}S ‑1J'TJJIIi}:r.i.f‑[Irfi^5Lll3d9SjiiA3LJ'f‑.ii:^[lTP)f'Jq 8=*H18mRr3 ZfbS7ib41f:[45]‑[48]. L,A, L,rib,i 6, A.) ‑7h[qo*i%0)fJ5nb,iS I

L*,tH ^7r:J[r?'x(Lt‑5:.̲^3J(Ia: ,3I){T:(l'f)F.I,JjUd,‑i E.i[nJ,'lW)I^{E 4LT L},TJL ,..I,.‑‑[3',JihSS<, i ^Lt,rj:73 [nJ,'J!‑ffT‑i:r'(J‑‑i

,Ly,:[11tJ)1.t5),3. 3: r=, LLf:[A3> H!o̲)1LIIrr[;/J.lf‑̲1^7a I i Ore. f /3 7r', ^> ‑yti,

;AiJtfO)ill;Bf[;‑rJ'fllH=I'1JTZJ.'[,),FB3Li)I(RJ7I!‑i)t7:IA ^E), F;f‑;/i,.Edu!'ifJth1,15'!3: 41T L^,73.

‑7‑^{I Tt} lil,‑)r.JJjuLTtEi,l7Li.;il^CAE i:yJTl.)H^{L, 7l}T)‑7T^JC=jSL}r3 ^{7'9 >‑)ti,} 0)T‑S(r)J13q1(

‑E,tQ^I >j‑i;‑J!ifE4ⁱI;';PJJkLil, :!Tr?'X()iki.3A3>l:1l‑'i!t,[nJ,'l!+FT‑L,, ,?‑a).'9y.]r"'.Li?‑‑JIJ10);.,!L3‑;,.liti;,i,I.i‑.I,‑.(Illf

52 a ³ * ^{9'1JfhX I,7o9 '/‑)hi,}0)B%i&gJtH#Ei^hO)*tB

18. ^{%L,I, A} 1)‑7llFq?hO)ZETR%%iAbi%i&b6EL, ^{911J{*X I‑}*0)%%iAbBi a)%R4=jEBBlt18 ^{a i 0)?)i 8 7o9} '/‑)^i,ig&0)Bi55[E%1i 5. *m9eb'ij;fRln8j:〜

4J...lJ.‑^tI#0)o‑kJ,ifJ:tlo),WLUXmn= ^J=7p^['r‑‑g50)B'lJiJFR9,FufSO)Cf ^{6? i} i:ygPA^{7a I i}

T1. 5TFi.I.S^0)Tj:^L,I+‑̲)7f%‑4‑73^{I i} ht,1W(‑#rEh^{i ZG).}

3.2 9ttJ{hR L 8=h'B+%A!4tHi5F5Eq)&i51E

3.2.1

i.5*#!Fi

*mRTIL ^{Fig. 3.1} 8='j%1, $5Bj19/I1/‑)h5g=‑)V T{5i, '/)<911JIhX I‑y‑>'/

(NX500C) ^{%@Jg18. =} 0)9t1‑I^{hX I‑}y,>'/8L 3gBESrJWb'lhq8E?hb 9 ^, 3#B%0)5g35I ig8=^{A‑U ,I} 8L i6#gBzAi%IaAi, i&#SBzDi%S3g8=J&JtE1 ^{8 2} tW3igB%9]i37}iE%jR ^'

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h‑?hb EO)7}iE%3#JE ^LTU,8. *3BfE?hLj:, 4qEb3gB%8=BgL,I, ^{0.02 ‑} 5.0[m/s]

3:7?BEgSE?hb8. 2T=, bDAiBf8=BgLT8L _‑4.23 ^‑ 4.61[m/s2] 3f?>a%fiq8ETEh b8. @398=8iB##b'io.oo5[m] Ojlx h)i‑'y%jgu', ^{A 1)}‑7)7=8iPgifO.075[m], j>&8i 0.44[m]0)bO)%jEb,f=. ^{a a?A, 7o9 y‑)hi,91.y} 7o7f34X8i5F4!t18. %#i!,

A 1)‑7h&u79 ^>‑)hi, f.y 7o#fS8i%FBIf%anSKD61) ^i, ,rS#t ^LT8i7)VS=

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7o9 ,/‑)^i,ig&%1&ig[F.rJ^{ve ‑} 0.5[m/s]^{i L,,} $3gm,[]% ^{vh ‑} 1.0[rrJs]&Uh, 2.0[m/s]

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*m3ffi%,j<1. ^a a?A, 7)1) x9iiEB*t8L 3iEB*B‑jE&‑?h%18 ^{a t8=j: 9,} FqSB o)ZETR%EEFi,,Gf%, *BiO)iB4i%18ii.S*0) ^a i?hb ^8.

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‑>= ⁱ I/‑‑> 3 ,/8=h‑L}8.rS.iB8=h‑b,I b9;,G*?1I@jg^{LJt ADCl2 %, *4!#m8i}

sKD6l %#lB,i ^L,, #JR, 7KBJ, %ff*kjgL& L,T#lG%1i? ^Jt. FBu'T=%i*g%'R1@%

Table 3.1, Table 3.2 8=j%1. Jd##%0)Eii8=8iI'/9}Vtio‑if%@jq ^LTb'8.

SigB4EH%f#5 9'tJ{^*X I‑ 8=h‑b,I, FW.rib,60),7TSiBDf#nb'i+2Aib8 ^tt' 5 fBb A,6I&LJj‑H=[1'=5 u.*#'[d!}:y%J.iftL, I U'tcL‑L^'.

3.2 911‑1'*X T‑8=ie;i}8alttjigf5o)Bai&1E ⁵³

Mold Experimental ^Apparatus

PX500C)

Fig. 3.1 Picture of the cold chamber die casting machine and the mold

Fig. 3.2 Results ofa blister ^test (ve^‑ 0.5[m/s],^{vh ‑ 1.0,}2.0[rrJs])

54 a ³j$ ^911jhX I‑7o9 >‑)hi, DB3i&altbigji^j]0)*tH

Table 3.1 Physicality value (Fluid_properties ADC12)

Density Of fluid[kgIm2] ²⁶⁸⁰

VISCOSIIy Of fluld[Pa･S] ^0･003

SPeClfiC heat [II(kg･Kl] ¹¹⁰⁰

Thermal COnduCIIVlty[WI(m･Kl] ^100･5

Initial temperature [K] ^952･15

Surface tension [NIm] ^0･0123

Latent heatOI fusion [IIkg] ³⁹⁷⁶⁷⁴

LllulduS temperature [K] ^861･15

SOllduS temperature [K] ^802･15

Gravity [mIS2] ^9･8

Table 3.2 Physicality value (Moldproperties SKD61)

D enSIIy[kgIm2 ] ⁸⁰⁸⁰

SPeC2fiC heat [II(kg･Kl] ^460･5

Initial temperature [K] ^422･15

Heat transfer COeInClenI [WI(m2

･Kl] ¹⁸⁸³⁷

3.2.2

*PFROWzF4#

gLl53ifit ^5=lJV

*mR?,8i ^CFD _‑>= ¹ L,‑‑>3 〜/1)7 I‑%B]U,I, X7)‑71'Pg8=h‑L}87o9>‑)hi, a)3B4‑J)h'i[J'Tf;tdI 7ri'tfiL,i.^0)js^I,A(:ylTti iA3>iTiEXa:#(::I,‑i(lXf ^:EE'ii(;u'(i:illi 2i.i‑i)^{1 7a.} _‑^=

IL1.'I!)'rrrE.Ei, i1(]iI1;2if[ifTtq‑I:G;/5<(:LR_‑iiAb ^Ei‑F;.Li)iEnhun h 1{4‑0)〜‑Fth'^rd:i(,)i‑(A(iigjTii7If.r;:i3 [‑.LJ73^tU, 5.'Y‑AC=!..I;j1‑i?,?:[t['[E4t8.^‑3 a:^t), R‑L4tO).jiiEIJ'ii1)Ji‑‑i{TTTiill:UJO)!&)jf

･5]l:)JtYlkfA,f[/m;%tiJUJtiB dj‑iiTrlitT1‑.'i6t8Y6 4 ta qgjEg%)I.p).'[iqT.1^{7a. I I?1,}

[l‑Liiiii tl,:lliTht^i:1)L.CiLt‑.i;‑Li'iEiii!DiJuI_‑}UV#1‑ ()ⁱ FIrx3ierXl2ikD?4;i‑I(]iVIIj.^{i‑T6 4t, 3( a) i i} ‑I;‑Li'iEilf.i tiEq.(3.1)?5A 6418[93l[94)

L ^‑

0.1#

^(3.1)

l':a‑i 1̲jfI.1l.I)‑:i3J18JTj4tf=i,iiJ1(iif.i‑i‑ⁱ Ji[n‑JJ'li:)JIjuL#1‑ ^c=liUiC^{L, r=}711.(i[^firi^Illi 0)9ta3fg&I%,)V#L ^{pd 8i}Eq.(3.2)^{a r38.}

Pd ^‑ PgL ⁺ cT/L (3.2)

I I Tt. _/,Edit(/i()(fA:)i^J (i‑1ilL'JTL.]li‑)I,.'J8iL:fLn=}il([f‑(tO)Ill:)J7:tb8.^rs3S, 9lRiiLf

#Ij7,)Vj1= ^pd 82, iii5GhJ= ^{9 b} JiF,oj1>‑>i,)Vie,)L#1=i4 L5ERBq?1b8 ^r=b,

;iiTn.]lJJ^(I_{LE ,‑5}iJr;‑i7.i̲!i‑;(i'(''iLkj)iⁱ jf.^{i 6 41}8.

.I..:

lI '::"..I..l=.;I:'.l'::L.I^I.i I:...I:.I.i"I. ^‑,:‑.

Surface tension

/

Fig. 3‑3Entrainment model

I../'....;I/.:I‑I

..:"/...I.:ll..'.. I:.‑ :il.

..:.I.:./.i.;.̲:I. ^̲. .:..:^/.‑ i. ^{: :..} i.i

:I‑: li. ll...:I.:I:.:i/I:.I 'il̲. ^{... ..} _:: !fll)../.:!Lll..:/;..^{!l'l... .. .I.̲Jl.}

* t{L'iEq(3.3)0)ck 5 8=3ifR7:h%8.

%.uvva

^{‑ R(1 ‑ Va) (3.3)}

I =7fh, R ^‑

Cai,J2WThb9

uEj:m‑L1*3AFa.LLiFSFB?,b8. a:T=Cai,Li, ZE

I...:...:..;'l.:.r

:I..:.^I..:.I :i. .I....'.:/;/.'.::.:..^‑̲ ‑/̲‑:i..I. ^..I :.::.'":I^:.. ll".:.)

hUdri(f?,bard:6, Va ^‑ 0

tf3d95).

Eq(3.3)^h'6SttiS n8&} ^,y ‑>= k)L7=lO) Va:*=5ti*1j:1i**, Ff:#L1*IiFA*, ^Vf=

I.::..Liz... ^. ..:/. ;.:I. ./::.;Jl...:.

I

. I.:. ^{::./ ..}

.J..:...i:: :I..../.:.

%%5% L, Eq.(3.4) %jn'T3EZf(iglj=Biii a(i)^%E+#18.

a(i)^‑

i

VakFfkVfkVck

k=1

(3A)

/. ^‑. r. ^I..

.I:I. :::. .'̲.7;. ^{:i i}

.. ..

L....tl....i.;/.:I..:.:..

.;.̲}: .:::I..I::^.I Ll/I

I..

. I/ .sl!..:/.‑.. i.:'‑. ⁱ :'t..:.I.:.i/i.I.l1.:.:i.:I _...,.: ^{‑.I./:i :}

.::^I̲‑i:.

･'./‑i..

I

I./:./ ^{.. !..:. . ::. ..i :.} ‑̲i:..1:.I..I..'l.I.:.I.:...:i.^./i::..:I I.:.I:../I."

･l:..

‑.;:‑.!Ll.:.:;L

...‑I..

I.lil;i:. ^I.. .I...:::. ::..:. I:I.I:.:I::./:

6i7f%iElfB4EA ^{i LTjqL,,7p.}

56 a ³ * 9t/hX T,7o9 >.)ti,0)fai&A4Lh3Aij:i^hO)*uJ.

qqqzq

Fig. 3.4 Mesh setting for CFD simulation

CFD ‑> I ⁱ L'‑‑> 5 I/l=cE%ZEfi#1ii#lh

I.::/‑:I:(Ll1: _..I i. ^{̲ .} ..Li"..//:‑"I/.J':I..I..:..:ll:!::i.: ^{I. . ;.::.::}

I.;..:̲..

.i:I.:ILL.!.:.llll....;.. :I I.../.ll...I‑:Ill.:. . i :.L ^‑: .':.:..i:i.;ll;..I:.

}.y ‑)1a3EEg% ^{Fig. 3.4 L=/i?ll. A I)}‑7#34XG3: X#7}rW=7L,'T}gW17?,b8 ^{= tb,} 6, H‑mrJo)b%6giai&fL,r=. }.y‑>1L3:m&hS#*h'rJ:A 1)‑7773‑ (‑Z7jLr5) L23fE

<. f&f50)WL&%1*5 X1)‑717} (+Z73‑r6]) 83:Wb,<, ^3:T=, 7p5,>.)h‑pShlftE/1*

0)tE*4Mqi#Labi#9b'r3X ¹⁾‑77&75' (‑Y 7=r5) 8a:,iE^{< , X7o)L‑=} 7TE9:1&0)i&o) lil'.:..I...:Ill:...::::.i:/l!ll^{/.:::.I/ll ":. I̲:} _.tl(.

I..

:/.. !tl /..". ^{"I. I/H.}

7Llwf57=r5 (X 73'r5) k?i,'TLj:‑6EL=} ^,y ‑>1trjX%=&kLT=. ^f3:h‑, iE4g%B5}

L3:jf‑I.BiLJ3L,'.^{} ty} ‑>1/(9j:‑9% ^{Table 3.3} 8=,i;1.

bniggE*% 0,05[m] B=B]i ^L, 1a3gm.rJigEg^ve % 0.20 ^‑ 0,60[m/s]^2Tt 0.01[nJs]^=tlt

i i.̲;. :.:..:':"/: ‑.‑I:.../::.Ill/.:i..: :...::[!i:i.:!. :i. ^.. :.i..../.I"I..:.;.I:I. ^.

1nJIFfR#[5LBi%^{Fig. 3.5} B=ii1. 1 #1#35 ⁹ 0)i+3?[F=:i‑FBCj:Intel Core2 Quad ^2.83Gllz mL.7&/i

I.;. I:. I.'l....:I:i:. .J.̲.

･Jf= ^{1 i/‑.>3} yJ%EBij= ^9, 0.37[m/s]LjtT>E3: Fig. 3.6(7)e^‑ 0.50[nJs])^{kiili: 5}

E=, iW,tg‑]0)i&0)]1J)ln,X7)i,‑=7^0)%5=kj:8fRf&, *ig8=ck 8'jz5tO)F!Wt33Ab .:Jl

I

‑:I..l'.Ill:../1l/.:.:/. LIL): i :i‑ ^{: .;.:.} :/.:.Ill./.:/. I./.ll....:^I.

3.2 91'‑{*x I‑8=B‑L}8AIEBigjFRq)B3i@IE 57 Table̲ 3.3 Mesh Parameters for die‑casting

Cell _Size [m] ^Number _{OI Cell}

XIJlr2CIlOn 0･004 20

Y‑ dire_CIlOn 0･002 ^〜 0･006 132

Z‑direction 0･0022 ^〜 0･0025 29

TOIal number Of Cell 761 560

(i G/'t<(i,LTtb^I, 7T=ht,I,I ^‑ ().GG[sl^(I‑fsL,T].rllLJ^{t=L^b 6} 4tfL=J':i'x(Ei4'].'r'.[L'J‑:l=i'iiii,lrllC=llTfL, L^b l34 i,3 f=SD, JJr;I::I;.!0)j[ii!h‑‑:Iud.;:'i.T::[#.ulj=^E)i,y3,< ^rj:,3i.S.i _i‑34t,3. I 0) I i iJt.I

Fig. 3.2 k'j%L/f=9(PBo)LgEqtr3?Tb'8 tj5i 6418.

3:r=‑7}?A, 0.23[m/s] LlfL=9iigutt ^{LTb, Fig.} 3.7(ve^‑ 0.21[m/s])8=/j<1i 5

E=, :ui^E)i)iⁱ 7'=) >‑>tti, i a) rr)‑‑f4‑r‑iJ‑35C=_ck^E), )(‑cPfJ.;)kJ1.tlE̲/I‑‑̲1,3i i i,l=, i,T'iit"lE=_ck

･3J':rx(0)I,)1[J^{L;iAd) i} YEf'+‑̲L TU ,?3 I i h1,lT‑I(I:I̲[i.'L'rLTt^{i?3. CFD} ‑> I ⁱ L,‑‑> 3 >E= J=ZJ‑I:q:

'x(;dfj;li:a)S':it..;.I.^{̲ i}Li 1 J't3Lql=(ftil'rkE41TL.Eihli,JJ:7Lx(lrJJi;3AafllqihS)'LV1:̲^{L,TLV‑5 f=}

dD, J)i)::T!0)yu%=c*.1t̲^7>:li:Ei.fr.T,7:3:!iu!ck^E)L9y< ^rJ:73 i.,g‑I‑i^{64tZB'. =0)I tlJ,6,} .tii8=

(lt;Ai‑Ttqtj‑''^[J.L f=J:ilL>7?tea,1'Irq/i(LulABO) 1Efli:y[:I)‑^Tl=L/, fbi.h'.I(r5(L:JtYJnJ:I;‑u1?3^I i i/,I

?1%f3U1= tb'ibb18.

6@E}P,0)7tb, ve ^‑ o.21[m/s] ^{i L,,} SrJ/m9;JS*jE11?f=. %D#SBijE ^{Fig. 3.8} 8=,j%1.

r3h,, f5igquJigjFR8hh ^‑ 2.0[nJs] i‑&EL,f=. ^{Fig. 3.8 A:}9, ve ^‑ o.21[nJs]ⁱ L,f=A 1#L=h‑ulT, Fig. 3.2 kj%Lr=#SB!j= ⁹ LL +1&0)&Li)(Ogkhi1'j>LTU,8b'i, ZEii8=

)i‑L}rd.‑'^(i'LiJtY,^{a: f=[}[^Ir)i..:'iliE=illTh,L,ki'LiJ/.tS< ‑Jn:S'‑I‑‑̲^L,T.ib‑E), lii#ltE=iAi)ii:ylft^I,'Str

?a 7:{1I{T.(iJiTx(^yikEii^3>&1Y,I',Jj^II‑̲Tt_‑E^{rd‑U, I i} i)I,li'[I.::.i‑!cJ.T.i ,‑5. rd:i:‑J‑,rr]]f̲Tie)I‑)I;I.5=t1!&L(³ rr7T I(1‑‑_‑) r=JJq2 Efll_r]1:,tliu)3:[li‑u!1JliflJ:^lt)1 tf=.

%418=}4L,, ^{0.24 ‑} 0.36[m/s] 7:>LL ^Fig. 3.9(ve^‑ 0.26[nJs])8=j%1j= 5 ^8=, t&jii3 i/,I:l>rkfL'L‑iJIJ'‑rJ:i.i,lltiiE4tiiy,'Jt^{L/T=. CFD ,>I i L,‑‑> 3 >C=} _cEZJJ,'rZ(iM‑J‑.ilrL:DqfcVff‑

̲.iEi 2.547?hB 9, ZgEitPA:qt33AuR&%ffbr3U,r=a ^{ve ‑} 0.50 &Ul o.21[nJs] ttEF&LTJi l}J'‑rJ:4.i(Trr.iJ1;I(]‑.4)4tTU"3 i ⁱ_,iL ^73. 3:.lilu!i L,7:, A 1)‑7TJJ7Tt3+!'i(i:y:YikfiA3frd:Llf=

a8=8L (1)^7o9 l/‑)hi,0)iW*h?1i&%BnB%r3U,, (2)X7o)V‑=78=%5E%, i&h'igH%

J):tiJ)VJL^' (i)iO)lL.I:I‑^{i i} 7j‑I)L‑ ⁼ 70)‑I.I.I,Ii h1.72Ef[.rlL:), (3)JJ.ri'.A‑(0)II,L.It=L^bi:y)'LY!F̲Ett

rj:L 'I i JJt;,Tr:.i)1h=t5)^,3I i i)I.14)h'7D. a: f=^{Table 3.4} E='ltp3‑J<qi(;LB'(i‑^ili:a).i‑l‑Ail:,1:.i.:nil)"h,,

'.'i'x(ldfi}L7,[ltiJ.‑iRL 1'.'i'x(I'l[.I^L:litb}iy.1ETI^{E tUif L},Lill7‑hJJ'J.J‑LLJ.hS7jT‑〜^41T L,?3 I i iJ1,i..=J A8.

R#8=#iJiT)0)r=b, ^{ve ‑} o.26[m/s] 0)A[#?hAIEH9;pS*%11? ^r=. %D,SgB!% ^{Fig. 3.10}

k, jff=9=JS*8=h,Lj‑87o9 〜/‑)hi,ig&% ^{Fig. 3.ll} 8=,jq.

I)ri.I.!jho:,li.u!j:^{t), I.I ‑} ()..̲)(;[m/Sl^{i L} 7T=LKJ'f‑.(=3sL,I, JJ:7JJR(;df1‑^:.i:a̲)m::J/i:[ll'(J]'.1)(=a‑Ll̲f.̲

lid² IglJO)3:Jri.u!i Lt.ri,1L 9gL''''1.;liT3r[I)t[J‑iBrE.(i^3ff=i':rITh,L,i({BiJt.I,rlj,1t73 i 0)0), 1inl'

I.‑::.I:I

I/ I.: I//I.:.: ^. ../.;ll.::I‑!.ll:._.:;/I:I ^I:I..

E O

E

= .1

= IJ

Ji

2021 2223242526272B293031 3233

̲l435363738394O41 424344LI546474&495051 5253 54 555657585960 P)unger yclocity [nVs]

Fig. 3.5 Result of air entrainment searched all velocity

Table 3.4 Quantityof airentrainment

V2 [rlJS] QuantityOI ^air Air Shutting

0･21 l･598 exist

0･26 2･547 ^nO

0･5C‑ 6･588 eXISl=

〜..'̲:...'..:I

./.:..I̲/I./

I Ill/I/, ‑..I.:..L.ll/I.:.. I.::I‑I.:l= ^I.:.I./. 'l.:I:il:.r;):/.(.i.:

ll

･l.‑I/ I.I::.:I.:..

'l. i‑ L‑ ILL:.‑l]:I:.I̲.'h'l..",̲::.I.:,.';I.:.:.,:1lLIIl:./.ill..!l.1‑I;I,̲^{. ..(}

I.. I../I̲.

I.

:..L: ^{Ill fl:i.} :ll..I.: ^..I :,.‑'Li:I.i.;}l./.I‑i,lli!.J::I::Ail.:./.;..{..I.‑::..‑̲

I...ll̲

.'.

I !

::LIL.:.. ll::I.I:.l':I.::̲. ^{":I:.: I.} ...{iLl:.:/I;ll.:..̲;:.:':.:/i:l]Jl..:.;./I.:i.;::.

l'.

I..

. . ..:: ^./I 'Il.3:/.:;I.:.:iL .lJl.:..

3.2 9t14hX T,(=h‑Lj‑8Bitijigj5o)Bii&1E ⁵⁹

i‑0[s]

I‑0.46

[s]

+

Break ofa ^wave i‑0.66

[s]

ql

Shutting air in the sleeve

t‑0[s]

i‑0.30

[s]

I‑0.58

[s]

‑

A wave colliding with ^{a sprue core} i‑ 0.76

[s]

‑

Fig. 3.6 Simulation _{result of} ^{vL ‑} 0,50[m/s]

t‑0.80

[s]

t‑

1.17[s]

^{t= I.59}

[s]

i

The

Id

reflection of ^{a wave A} reflected ^wave colliding with ^a plunger

t‑ 1.81

[s]

^{i‑ I.92}

[s]

I 1

Shutting air in the sleeve

Fig. 3.7 Simulation result of ^{ve ‑} 0.21[m/s]

h([ ::i.I.;I. ^‑I .ll::‑l}/'‑. ^̲ :...I..1.lI.‑i..:^I/i/..̲ :..l}.:::;.i/.

After ^a brlSIer test Su rIaC^e

0･2 1

[mIS]

:･1･I･!･‑

〜･･･.

l

･･H!q^lL

5･L

I)

P]

EE

L.･& ^Ll=_AI

;>=Pl=I･･･12=tl=1#1 ･F#l=･1==/1･E,!･1

^&

]･!13

:･1･1‑11･ 1･i ^,.

JJP･‑y.

Fig. 3.8 Result ofa brister ^test (ve^‑ 0.21[m].^{vh ‑} 2.0[m/s])

t‑0[s]

i‑0.76

[s]

‑

i‑ 1.43

[s]

I

‑1d

i‑ 0.48

[s]

i‑

1.06[s]

+

i‑

I.52[s]

‑

Fig. 3.9 Simulation result of ^{ve ‑} 0.26[m/s]

:.I."I ^I/ _:‑.': ^/ I.:i.;::r::.:;.J...i./...;.i;;I _i,J

Fig. 3.10 Result ofa bristertest (ve^‑ 0.26[m],^{vh ‑} 2.0[m/s])

3r3

::.

O 0 O

>

h U bD

3

FL.

0.6 0.5 0.4 0.3 0.2

‑ Exp (0.2I[nVsl)

‑ ‑ Ref (0.2)[m/s])

‑ Exp (0‑26[m/s])

‑ ‑ Ref (0.26(m/s])

‑ Exp (0.50(nJs])

Ref (0̲50[m/s1)

0.2 0.3 0.4 0.5 0.6 0.7 ^{0.8 0.9}

Time [s]

Fig. 3.1 1 Planger velocities of each result

I;I: :/::; ^t' I/.‑.': /H/I:.: ^{.. :..} .,:..i5Lli..i.:.I̲..:^{:/I.I .} I.:I.;.

{.'.;*ILr..tl^LLLb.: I:.0)ln+I

:.I..

. ...3.'̲:..h:‑. ^/̲‑. li.:̲i..u:.:i..I^{il ll/‑.} :::lT./:..^{I :.::} :.il.:'.::̲‑lr'..:,J1:I‑:

I :::. ; ^{‑̲ I..} I/'.:.I.:. ^.... I:I‑/:J/. ‑1‑.I.iI?ll...;I.'l̲.:i.i:./!l.:i...:J/::l!:../r....:..I./..‑

I.

I: ^{‑.. I I.:.}

I

.. :I/'/ ^. I̲'Il̲..

:^l[. llL=l;..̲',I.:L..i1..'l.'=i‑/.i.I::I:./':̲.i..:.._!l::i.:^{/..:I̲ I}

I..lI...:I̲J/. . I. !.i ^{‑ : .L} I.I.IL...l'il.Li̲:.T::I.::.i/LT:;''.i::!LL::i.:':.':I./..

I.

...I.

I.:

!'.:./ I.;:.ll..1. I :.J/i::J I:I..'lJiL :.;il.t1.i3;'f.:('l..1i.:../i..I‑.'.r‑̲:/.:"^{''l,.(!l. :i:/.}

TrJEM73‑if%fB3S^LT=. %0)m3:T5g1% ^{Fig. 3.l2} B='f'1.

sl*u

^LL

: ₁ grFernaSnudiistl;=Sisehveedsection

:I:‑LIL‑‑‑

^‑

lr

Sleeve volume Fluid volume Air shutted cell volume

Shutted air volume is analized every time step A _shut is determined by maximum air volume

1

･33

bJ) sj j

̲CU)

Time [s]

Fig. 3. l2 Distinction of the shutting the air in the sleeve

I.''/.:,:I̲.:// ::. I//.:‑I:::. ^/I ..I/...:. i‑. lJ.:LL:il/I:/.:.I/:I:. r.I.'..I..I.l'

0)*X97J{3:'LL E:n6%prepin0) Namelist;xputt=^h18 ^{= t8=i:} Oi@jgfn8.

' D1:Y Wi5i=h,Lj‑ %Wti*0)1*GyF#qPISS

' iJ̲::. ^{.:I. .} .‑..I..I.lL..:.. ..I:/:.:I..../".i/i:

:I;..

I D25:hj] ^{7 7} 4)i,0)RSF+EqFtflPF5

!l. : I‑..'..'"ll

.l=::.::...i::..:‑.

I...

LIL1̲ I:.i. : I: I::!::.'IJ...:..;lj. [t..iE;.,II,.

FTaCt1'On),i#Lt** (FTaCt1'On0(nu)'tfl%hj7 ^{L, A} I)‑7^Wf5i5B=fE55l*%‑*#T8. ^A I)‑7hwi5E=}41 8WL1**75S ^{DI X} 100[%] CD#5jij: ⁹ u&73‑1RrJO)ZEFB1**%‑*S L,,

I:.

ll... ^ll

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Table 3.5 Weight of evaluation value

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Wt l･0

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Table 3.6 Parameters for Genetic algorithm

Number OI Variable 2

Number OI population 30 Number OI elite Preservation 1 Mutation fraction 0･01 CrOSSOVer fraction 0･80

3.3 ‑>SIL/‑,>3y#EB! ⁶⁵

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0 lO

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Fig. 3.14 Optimization result

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ドキュメント内 CFDシミュレータを用いた最適化手法に関する研究 (ページ 52-75)