Generation of Motion Pattern Based on the Cooperation of Locally Controlled Self-Excited Oscillators and its Application to Vibration Transportation

本研究的目的是探讨基于局部控制自激振子合作的运动模式产生机制。首先，我们从频率夹带的角度研究了自激振子之间的合作机制。我们采用变增益速度反馈控制的自激振荡器，因为它将振荡状态转变为自激和抑制振动的机制简单。当振荡器受到的外力较小时，速度反馈具有正增益，产生自激振动。当外力较大，振动幅值仅通过强迫振动达到参考值时，速度反馈主动抑制振动，发生频带。由受迫振动的共振曲线推导出受迫夹带的同步极限。复数振子中的频率夹带可以用外力代替其他振子的相互作用来处理为强迫夹带。在此基础上探讨了运动模式产生的机理。我们表明，通过对每个振荡器施加适当加权的相邻振荡器的位移和速度的控制力，可以产生振荡器之间的任何相位延迟。这种方法使我们能够生成任何运动模式。最后，将该方法应用于振动输运机的驱动，实现了分散自激振动机的协同输运。

The aim of this study is to investigate the mechanism of the generation of motion pattern based on the cooperation of locally controlled self-excited oscillators.First, we investigated the cooperation mechanism between self-excited oscillators from the viewpoint of frequncy entrainment. We used self-excited oscillators which is, controlled by velocity feedback with variable gain, because its mechanism to change the state of oscillation into self-excitation and vibration suppression is simple. When external force to the oscillator is small, the velocity feedback has a positive gain and self-excited vibration is generated. When external force is large and vibration amplitude reaches reference only by forced vibration, the velocity feedback actively suppresses vibration, and frequency entrainment occurs. The synchronization limit of foeced entrainment is derived from the resonance curve of forced vibration. Frequency entrainment in the plural oscillators can be treated as forced entrainment by substituting external force for the interaction of other oscillators.Then we investigated the mechanism of the generation of motion pattern. We showed any phase delay between the oscillators can be generated by apllying the control force, which can be made from properly weighted displacement and velocity of adjascent oscillators, to each oscillator. This method enables us to generate any motion pattern.Finally, we applied this method to drive vibration transportation machines, and we realized vibration transportation by cooperation of decentralized self-excited vibratory machines.