台形テンドン機構による回転平板の位置決めおよび曲げ・ねじり振動の制御

概要

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For a control method of bending-torsion-coupled vibration of a rotating plate, a control mechanism using trapezoid tendon mechanism is presented in this study. The proposed tendon mechanism consists of two control sticks driven through tendons individually driven by motors at two points of the plate. This mechanism is modelled by applying the Lagrange's equation and an optimal control system is constructed by the optimal control theory. In order to investigate the control characteristics of the tendon control system, computer simulations and control experiments were carried out for 5 kinds of geometry and 4 installation points of the control sticks. As a result, the usefulness of this control method was demonstrated and the optimal conditions about the geometry and the position of control sticks were made clear.
1991-06-25