Vibration Control by Using Nonlinear Phenomena

在这项研究中，我们提出了利用非线性现象对非线性共振和参数共振进行控制的方法。针对磁悬浮车辆的参数共振，从理论上建立了利用摆式吸振器消除激振影响的方法。用一台简单的装置对其有效性进行了实验验证。第二个话题是跑带的稳定。随着运行速度的不同，会出现许多超谐共振，在本研究中，我们将一根梁的一阶固有频率调谐为皮带跨度固有频率的一半。然后从主系统到吸尘器产生能量转换。因此，避免了所有的超谐共振。第三个主题是利用非线性分叉现象进行欠驱动机械手的运动控制。在高频下产生了干草分叉及其摄动。在没有自由关节状态反馈的情况下，进行了运动控制，并在两连杆欠驱动机械手上进行了实验验证

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