1991 Fiscal Year Final Research Report Summary
Developmental Research on Motion Control System of Water Jet Robot for Nuclear Reactor Dismantlement
| Project/Area Number |
02558021
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| Research Category |
Grant-in-Aid for Developmental Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Nuclear engineering
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| Research Institution | Tohoku University |
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Principal Investigator |
TANI Junji Tohoku University, Institute of Fluid Science, Professor, 流体科学研究所, 教授 (30006192)
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| 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)
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| Project Period (FY) |
1990 – 1991
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| Keywords | Water Jet Cutting / Nozzle Viblation / Viblation Control / Digital Regulator / Tendon Mechanism / Piezoelectric Actuator |
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| 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.
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