重心移動による振子系の振動制御

抄録

For a pendulum system whose weight is transferred up and down, a vibration control method is proposed using a nonnegative function like the mechanical energy of the pendulum. That is, a condition that makes the time derivative of the function nonpositive is derived and a design method of the controller for l (l represents the length of the pendulum) is developed on the basis of the condition. The condition is expressed in terms of the sign condition of i and shows that the Coriolis force is used to damp the oscillations of the pendulum. The limit of performance achieved under a constrained stroke of l is also given. The controller is easily designed with a servo system that consists of a 2nd-order lag and a bang-bang input obtained from the pendulum trajectory. Numerical experiments are performed to examine the validity of the proposed method.