C08 ヤコビの楕円関数に基づく振り子の振動制御 : 直列二重振り子への適用(OS7 機械・機械構造物の耐震・免震・振動制御(1))

概要

論文の詳細を見る
There are some nonlinear control methods for vibration control of the pendulum model. We proposed a nonlinear control method based on Jacobian elliptic functions in previous studies. The control method aims to reduce the mechanical energy of a pendulum by the motion of the actuator synchronized with the pendulum. In this report, we apply the method to a cart-type serial double pendulum system. In the double pendulum model, it can deprive the first pendulum connected to the cart of the mechanical energy. Then, the second pendulum in the edge is controlled indirectly. The effectiveness of the method is verified by numerical simulations with the object of power from cart to pendulum. In addition, we clarify that the performance of vibration control depends on the system parameters.
一般社団法人日本機械学会の論文
2009-09-01