Control of Self-Excited Oscillation

从理论上提出了铁路轮对蛇行运动和反对称力作用下物体参数共振的镇定控制方法。分析了轮对线性悬挂对整体稳定性的影响，探讨了提高蛇行临界速度的方法。此外，利用主系统和阻尼器之间的非线性耦合效应的动态阻尼器的构造和该系统的有效性上述参数共振的理论和实验检查。在此基础上，利用高频激励下的参数共振特性，提出了一种不需要自由杆状态反馈控制的欠驱动机械臂位置控制方法。研究了系统的非线性特性，并通过分岔分析推导出控制策略。使用一个简单的装置的实验证实了所提出的控制方法的有效性。

Stabilization control methods for the hunting motion of a railway wheelset and for the parametric resonance of a body subjected to anti-symmetric force are theoretically proposed. The efficiency of the linear suspension for the wheelset on the global stability is analyzed and the method to increase the critical speed of the hunting motion is discussed. Also, a dynamic damper utilizing the nonlinear coupling effect between the main system and the damper is constructed and the validity of this system for the above parametric resonance is theoretically and experimentally examined. Furthermore, a position control method for an underactuated manipulator is proposed without state feedback control of the free Link by utilizing the parametric resonance under high-frequency excitation. The nonlinear characteristics are investigated and the control strategy is deduced by the bifurcation analysis. Experiments using a simple apparatus confirm the validity of the proposed control method.