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1987 Fiscal Year Final Research Report Summary

Research on High Speed Access and Tracking Control of Flexible Mechenical System

Research Project

Project/Area Number 61550182
Research Category

Grant-in-Aid for General Scientific Research (C)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionTokyo Institute of Technology

Principal Investigator

ONO Kyosuke  Professor , T.I.T, 工学部, 教授 (40152524)

Co-Investigator(Kenkyū-buntansha) MICHIMURA Seiichi  Assistant , T.I.T, 工学部, 助手 (70092575)
Project Period (FY) 1986 – 1987
KeywordsTransient Vibration / Optimum Control Theory / Flexible Mechanical System / Flexible arm / Access Control / Positioning Mechanisum / Feedfoward Control / フィードバック制御
Research Abstract

The works done in this project are summrized as follows :
1. An optimal starting and stopping motion control method without transient vibration for a multidegrees-of freedom flexible mechanical system involving dry friction as well as internal and external dampings was derived. It was found from the experimental study that this method is useful for the rapid access control of the multidegrees-of-freedom mechanical system.
2. An numerical analysis was developed for the nonlinear bending vibration of a flexible arm which is accelerated to high speed in a reange of bending vibration period. From the experimental study it was found that the theoretical results agree well with the experimental ones , if three nonlinear terms and the external damping term of surrounding air are considered.
3. The procedure to derive an optimal vibrationless motion and input force was generally formulated using the modal eguation of motion for a multidegrees-of -freedom flexible mechanical system. It was shown from the experiment that the transient vibration can be suppressed well using the combined control of collocation velocity tracking feedback and a vibrationless feedforward input.
4. A plain explanation of instability was described for a simple feedback positioning mechanisum system which has one degree-of-freedom in addition to one degree of rigid body freedom.

  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] 小野京右: 日本機械学会論文集(C編). 53. 679-686 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 小野京右: 日本機械学会論文集(C編). 53. 2568-2576 (1987)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 山浦弘: 日本機械学会論文集(C編).

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 山浦弘: 日本機械学会論文集(C編).

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Kyosuke ONO: "Opyimal Starting Motion Control for Flexible Mechanical System (2nd Report, Theory for Multi-Degrees of Freedom System and Experimental Study)" Transaction of JSME (C). 53. 679-686 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kyosuke ONO: "Fundamental Investigation on Feedback Positioning Mechanical System Having One Degree of Vibration Freedom (1st Report, Instability Due to Negative Feedback)" Transaction of JSME (C). 53. 2568-2576 (1987)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Hiroshi YAMAURA: "Vibrationless Access Control for a Flexble Arm" Transaction of JSME (C).

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Hiroshi YAMAURA: "Nonlinear Bending Vibration of a Rapidly Driven Flexible Arm" Transaction of JSME (C).

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 1989-03-30  

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