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Developmental Research on Motion Control System of Water Jet Robot for Nuclear Reactor Dismantlement

Research Project

Project/Area Number 02558021
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field Nuclear engineering
Research InstitutionTohoku University

Principal Investigator

TANI Junji  Tohoku University, Institute of Fluid Science, Professor, 流体科学研究所, 教授 (30006192)

Co-Investigator(Kenkyū-buntansha) 八尋 暉夫  鹿島建設株式会社, 技術研究所, 次長
TAKAGI Toshiyuki  Tohoku University, Institute of Fluid Science, Professor, 流体科学研究所, 助教授 (20197065)
CHONAN Seiji  Tohoku University, Department of Mechanical Engineering, Professor, 工学部, 教授 (20005424)
HAYASHI Satoru  Tohoku University, Institute of Fluid Science, Professor, 流体科学研究所, 教授 (10021982)
KOBAYASHI Ryoji  Tohoku University, Department of Mechanical Engineering, Professor, 工学部, 教授 (70006170)
大友 規矩雄  東北大学, 流体科学研究所, 助手 (10006182)
Project Period (FY) 1990 – 1991
Project Status Completed (Fiscal Year 1991)
Budget Amount *help
¥11,400,000 (Direct Cost: ¥11,400,000)
Fiscal Year 1991: ¥3,300,000 (Direct Cost: ¥3,300,000)
Fiscal Year 1990: ¥8,100,000 (Direct Cost: ¥8,100,000)
KeywordsWater Jet Cutting / Nozzle Viblation / Viblation Control / Digital Regulator / Tendon Mechanism / Piezoelectric Actuator / ジェットカッテイングノズル / 流体ジェット / ディジタルレギュレ-タ理論
Research Abstract

A nozzle of water jet cutting is modeled by a contilevered pipe conveying fluid. An active vibration control of the pipe is investigated theoretically and experimentally. The response of the pipe is controlled by the torque produced by a pair of tendons attached to the pipe and servo motor. The equation of motion is solved by means of the Galerkin method. In order to reduce the number of system mode, a suboptimal control law considering of the spillover is applied to the system. The experiment was performed by using a long flexible pipe conveying water, which was hung horizontally or vertically. Numerical simulations and experimental results are in good agreement with each others and show that this method is effective for suppression of the flutter of the nozzle of water jet cutting. A pair of piezoelectric actuators also is effective for the active vibration coatrolled of the nozzle.

Report

(3 results)
  • 1991 Annual Research Report   Final Research Report Summary
  • 1990 Annual Research Report
  • Research Products

    (18 results)

All Other

All Publications (18 results)

  • [Publications] 高橋 史明,中村 茂,谷 順二: "片持送水管の安定性と圧電アクチュエ-タによる能動制御" 日本機械学会論文集、C編. 56. 1826-1834 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] 高橋 史明,谷 順二: "流体ジェットの横縦動力を受ける片持ばりの圧電アクチュエ-タによる能動制御" 日本機械学会論文集、C編. 56. (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] 谷 順二,上田 宏樹: "テンドン機構による両端自由はりの振動制御" 日本機械学会論文集、C編. 56. 3274-3278 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] 谷 順二,酢谷 譲: "水平片持送水管の振動制御" 日本機械学会論文集、C編. 58. (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] 谷 順二,酢谷 譲: "鉛直片持送水管の振動制御" 日本機械学会論文集、C編. 58. (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] F. Takahashi, S. Nakamura and J. Tani: "Dynamic Stability and Active Control of a Contilevered Pipe Conveying Field by Piezoelectric Actuators" Trans. JSME. Ser. C.56-526. 1481-1487 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] F. Takahashi and J. Tani: "Active Control of a Contilevered Beam under a Transverse Follower Force of Fluid Jet By Piezoelectric Actuators" Trans. JSME. Ser. C.56-527. 1826-1834 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] H. Ueda and J. Tani: "Active Vibration Control of a Free-Free Beam by the Use of a Tendon Mechanism" Trans. JSME. Ser. C.56-532. 3274-3278 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] J. Tani and Y. Sudani: "Vibration Control of a Horizontally Contilevered Pipe Conveying Fluid" Trans. JSME. Ser. C.(1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] J. Tani and Y. Sudani: "Vibration Control of a Vertically Contilevered Pipe Conveying Fluid" Trans. JSME. Ser. C.(1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1991 Final Research Report Summary
  • [Publications] 高橋 史明、中村 茂,谷 順二: "片持送水管の安定性と圧電アクチュエ-タによる能動制御" 日本機械学会論文集、C編. 56. 1826-1834 (1990)

    • Related Report
      1991 Annual Research Report
  • [Publications] 高橋 史明,谷 順二: "流体ジェットの横縦動力を受ける片持ばりの圧電アクチュエ-タによる能動制御" 日本機械学会論文集、C編. 56. (1990)

    • Related Report
      1991 Annual Research Report
  • [Publications] 谷 順二,上田 宏樹: "テンドン機構による両端自由はりの振動制御" 日本機械学会論文集、C編. 56. 3274-3278 (1990)

    • Related Report
      1991 Annual Research Report
  • [Publications] 谷 順二,酢谷 譲: "水平片持送水管の振動制御" 日本機械学会論文集、C編. 58. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 谷 順二,酢谷 譲: "鉛直片持送水管の振動制御" 日本機械学会論文集、C編. 58. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 高橋 史明、中村 茂 谷 順二: "片持送水管の安定性と圧電アクチュエ-タによる能動制御" 日本機械学会論文集. 56. 1826-1834 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] 高橋 史明 谷 順二: "流体ジェットの横縦動力を受ける片持ばりの圧電アクチュエ-タのよる能動制御" 日本機械学会論文集. 56. 1826-1834 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] 谷 順二 上田 宏樹: "テンドン機構による両端自由はりの振動制御" 日本機械学会論文集. 56. 3274-3278 (1990)

    • Related Report
      1990 Annual Research Report

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Published: 1990-04-01   Modified: 2016-04-21  

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