The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2016
Session ID : 1A1-04a2
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Murtual entrainment of swing controled by periodic input
Morio HINISHIHidekazu KAZIWARAManabu AOYAGINaohiko HANAZIMA
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Abstract

By utilizing the forced entrainment of van der Pol(VDP) equation which is self-excited oscillation system, it is possible to synchronize a periodic input and a controlled object. Further, by the periodic input whose amplitude and phase is modulated by the deviation from the target energy, it is also possible to control the energy of the controlled object. We applied periodic input control to a swing which is parametric excitation system, and showed that it has a characteristic of self-excited oscillation system. Furthermore, we showed that forced entrainment occurs in parametric excitation system that its energy is controlled by periodic input control. In this paper, we indicate that mutual entrainment occurs in two-coupled parametric excitation system.

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© 2016 The Japan Society of Mechanical Engineers
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