Decentralized control of multi-degree-of-freedom system by self-excited vibration actuators with local control
| Project/Area Number |
20560223
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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 | The University of Shiga Prefecture |
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Principal Investigator |
KURITA Yutaka The University of Shiga Prefecture, 工学部, 教授 (70275171)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000)
Fiscal Year 2010: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2009: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2008: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | 振動制御 / 自励振動 / 分散制御 / 多自由度振動系 / 共振点駆動 / 局所フィードバック / 多点加振 |
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| Research Abstract |
A control method to always excite a multi-degree-of-freedom system efficiently at resonance frequency was developed. Self-excited vibration is generated at all the resonance frequencies by using a controller that has a phase lag of 90° and a constant gain in a wide frequency range. The validity of driving at resonance frequency by decentralized control was verified in the experiments of 4 and 8 degree-of-freedom vibration system, multipoint excitation of a large-sized structure, formation of gait of quadruped animals, and bipedal locomotion in the flat ground.
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Report
(4 results)
Research Products
(33 results)
