Vibration Control by Using Nonlinear Phenomena

利用非线性现象进行振动控制

• 批准号: 13650243
• 负责人: YABUNO Hiroshi
• 金额: $ 1.66万
• 依托单位: University of Tsukuba
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650243/
• 关键词: Nonlinear; Nonlinear Control; Manipulator; Resonance; Internal Resonance; 劣駆動; 自励振動; 非線形振動; 分岐現象; 振動; 制御; 分岐; ベルト

In this research, we propose control methods for nonlinear and parametric resonances by positively using nonlinear phenomena. For parametric resonance in a magnetically levitated vehicle, a method to cancel the effect of the excitation is theoretically established by using a pendulum-type vibration absorber. The validity is experimentally confirm by a simple apparatus. The second topic is stabilization of a running belt. There are many superharmonic resonances depending on the running speed, In this research, we put a beam whose first natural frequency is tuned to be a half of the natural frequency of the belt span. Then the energy transformation is produced from the main system to the absorber. As a result, all the superharmonic resonances are avoided. The third topic is the utilization of nonlinear bifurcation phenomena for the motion control of an underactuated manipulator. By, producing pitchfork bifurcation and its perturbations under high-frequency. excitation, the motion control is carried out without state feedback of the free joint, The validity is experimentally confirmed in a tow link underactuated manipulator

在这项研究中，我们提出了控制方法的非线性和参数共振积极利用非线性现象。针对磁悬浮车辆的参数共振问题，从理论上建立了一种利用阻尼减振器消除激励影响的方法。通过一个简单的实验装置验证了该方法的有效性。第二个主题是跑步带的稳定性。在本研究中，我们将一个梁的第一阶固有频率调谐到皮带跨度的固有频率的一半。这样就产生了从主系统到吸收器的能量转换。结果，避免了所有的超谐波共振。第三个主题是利用非线性分岔现象进行欠驱动机械臂的运动控制。高频下产生的分叉及其扰动。激励下，在没有自由关节状态反馈的情况下进行运动控制，并在一个双连杆欠驱动机械臂中进行了实验验证

项目成果

YABUNO, H.: "Effect of Lateral Linear Stiffness on Nonlinear Characteristics of Hunting Motion of a Railway Wheelset"Meccanica. 37-6. 555-568 (2002)

YABUNO, H.：“横向线性刚度对铁路轮组摆动运动非线性特性的影响”Meccanica。

YABUNO, H.: "Swing-Up and Stabilization of an Underactuated Manipulator without State Feedback of Free Joint"IEEE Transactions on Robotics and Automation. 20(印刷中). (2004)

YABUNO, H.：“无自由关节状态反馈的欠驱动机械臂的摆动和稳定”IEEE 机器人与自动化汇刊 20（出版中）。

Yabuno, H., Kanda, R., Lacarbonara, W., Aoshima, N.: "Nonlinear Active Cancellation of the Parametric Resonance in a Magnetically Levitated Body"Transaction of ASME Journal of Dynamic System, Measurement and Control. (in press).

Yabuno, H.、Kanda, R.、Lacarbonara, W.、Aoshima, N.：“磁悬浮体中参数共振的非线性主动消除”ASME 动态系统、测量与控制杂志交易。

Yabuno, H., Murakami, T., Kawazoe, J., Aoshima, N.: "Suppression of Parametric Resonance in Cantilever Beam with a Pendulum (Effect of Static Friction. at the Supporting Point of the Pendulum)"Transaction of ASME Journal of Vibration and Acoustics. 126. 1

Yabuno, H.、Murakami, T.、Kawazoe, J.、Aoshima, N.：“用摆锤抑制悬臂梁中的参数共振（静摩擦力的影响。在摆锤的支撑点）”ASME 期刊交易

Yabuno, H., Okamoto, T, Aoshima, N.: "Effect of Lateral Linear Stiffness on Nonlinear Characteristics of Hunting Motion of a Railway Wheelset"Meccanica. 37-6. 555-568 (2002)

Yabuno, H.、Okamoto, T、Aoshima, N.：“横向线性刚度对铁路轮组摆动运动非线性特性的影响”Meccanica。