| Project/Area Number |
13650243
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | University of Tsukuba |
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Principal Investigator |
YABUNO Hiroshi University of Tsukuba, Institute of Engineering Mechanics and Systems, Associate Professor, 機能工学系, 助教授 (60241791)
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| Co-Investigator(Kenkyū-buntansha) |
AOSHIMA Nobuharu University of Tsukuba, Institute of Engineering Mechanics and Systems, Professor, 機能工学系, 教授 (60013710)
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| Project Period (FY) |
2001 – 2003
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| Project Status |
Completed (Fiscal Year 2003)
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| Budget Amount *help |
¥2,600,000 (Direct Cost: ¥2,600,000)
Fiscal Year 2003: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 2002: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2001: ¥1,400,000 (Direct Cost: ¥1,400,000)
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| Keywords | Nonlinear / Nonlinear Control / Manipulator / Resonance / Internal Resonance / 劣駆動 / 自励振動 / 非線形振動 / 分岐現象 / 振動 / 制御 / 分岐 / ベルト |
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| Research Abstract |
In this research, we propose control methods for nonlinear and parametric resonances by positively using nonlinear phenomena. For parametric resonance in a magnetically levitated vehicle, a method to cancel the effect of the excitation is theoretically established by using a pendulum-type vibration absorber. The validity is experimentally confirm by a simple apparatus. The second topic is stabilization of a running belt. There are many superharmonic resonances depending on the running speed, In this research, we put a beam whose first natural frequency is tuned to be a half of the natural frequency of the belt span. Then the energy transformation is produced from the main system to the absorber. As a result, all the superharmonic resonances are avoided. The third topic is the utilization of nonlinear bifurcation phenomena for the motion control of an underactuated manipulator. By, producing pitchfork bifurcation and its perturbations under high-frequency. excitation, the motion control is carried out without state feedback of the free joint, The validity is experimentally confirmed in a tow link underactuated manipulator
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