B34 3自由度ハイブリッド除振システムの4点支持部への制御力の配分(OS3-1 免震・除振装置)

概要

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This paper treats a hybrid type vibration isolation system for 3-DOF vibrations, that is, bouncing, pitching and rolling vibrations. The hybrid type system is composed of passive spring-damper system and electromagnetic actuators. The controller for the vibration isolation system derives one control force for bouncing vibration and two control moments for pitching and rolling ones in regard to the center of gravity. Usually, an actuator to supply vibration control force is set in each supporting part at the four corners of the loading platform. The allocation of three control outputs to four supporting points is not unique because of redundancy. In this paper, the allocation of the control output is discussed in detail.
一般社団法人日本機械学会の論文
2005-08-22