Study of suppression of residual vibration by elimination of the natural frequency component

2023 Fiscal Year Final Research Report

• Project/Area Number: 21K14108
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Kanagawa University
• Principal Investigator: Kurihara Kai 神奈川大学, 工学部, 助教 (90896888)
• Project Period (FY): 2021-04-01 – 2024-03-31
• Keywords: 振動制御 / 天井走行クレーン / 残留振動 / 固有振動数成分 / 非線形系

Outline of Final Research Achievements

In this study, the natural frequency component elimination method is proposed for the control input design of an overhead travelling crane. In this paper, the effectiveness of the natural frequency component elimination method for multi-degree-of-freedom system models is verified, and a method to reduce the load on actuators using changes in rope length is developed. For the former, we applied mode transformation to a multi-degree-of-freedom system, derived the deemed external forces including the effects of nonlinearity and damping in each mode, and showed that residual vibration can be suppressed by removing the corresponding natural frequencies. For the latter, the objective function was set up by adding a degree of freedom to the rope length variation and using a function that limits the range of the rope length in addition to the trolley acceleration, and it was shown that the trolley acceleration can be reduced by using the rope length.

Free Research Field

機械力学

Academic Significance and Societal Importance of the Research Achievements

残留振動とは機械システムの動作停止時に系に残っている許容できない振動を挿し，天井走行クレーンやロボットアームといった高速運転が求められる機械では問題になり得る．本研究では天井走行クレーンを対象としているが，提案している固有振動数成分除去法はクレーンに限らず一般的な機械に適用可能である．多自由度系への適用，および時間的に変化するパラメータを考慮した制御が可能となったことで，本手法の適用範囲もより広くなった．したがって，残留振動が問題となる機械全般への対策としての利用が可能である．また，本研究では様々な系で残留振動抑制の必要条件を示しており，これは対策法の発展につながるものである．