柔軟はりの波動吸収制御

概要

論文の詳細を見る
An analytical procedure for implementing the wave-absorbing controller is presented and experimental verification for the procedure is performed. The ideal controller transfer function H(s) from the sensor output to the control force is a complex function with respect to s, i. e., it contains i=√<-1> explicitly, so that H(s) cannot be implemented by convolution of the output with h(t)=L^<-1>[H(s)]. To solve this problem, the ideal controller transfer function is expressed as a real irrational function with high precision. Parameters of the digital convolution algorithm and convolution integration range length, which are needed for the implementation within the prescribed error, are determined analytically. Experimental results show that the digital algorithm can control many modes without causing instability to any higher mode, and that controlled responses are in good agreement with the theoretical results. Moreover, robustness is ascertained experimentally for structural parameter variation in all portions except between the sensor and actuator at the boundary.
一般社団法人日本機械学会の論文
1995-03-25