2010 Fiscal Year Final Research Report
Decentralized control of multi-degree-of-freedom system by self-excited vibration actuators with local control
| Project/Area Number |
20560223
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Single-year Grants |
|---|
| Section | 一般 |
|---|
| Research Field |
Dynamics/Control
|
|---|
| Research Institution | The University of Shiga Prefecture |
|---|
Principal Investigator |
KURITA Yutaka The University of Shiga Prefecture, 工学部, 教授 (70275171)
|
|---|
| Project Period (FY) |
2008 – 2010
|
| 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 |
|---|
| 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.
|
Research Products
(16 results)
