This study is to derive a general design method of disturbance cancellation control systems which completely strike out harmonic excitation forces for a vibration system with multi-degree-of-freedom. In this paper, the output regulator theory with internal stability based on feedback and feedforward control in applied to a design of control system. First, the feedback control system is designed using modal co-ordinates after modeling the dynamics of a vibration system and a disturbance system. Two models are used for harmonic excitation forces. Next, the feedforward control system is designed for two disturbance models. Finally, some simulation results are described. The important conclusion of this study is following: The disturbance cancellation control for actual use is to design as if the disturbance frequencies were equivalent to natural frequencies on each mode. This means near-zero amplitudes at any position and any frequency.

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In the case that the estimated dynamic characteristics of a disturbance observer accompany a restriction because of backlash or noise, the Coulomb friction changing in a moment with the switching of the velocity sign cannot be compensated rapidly. Although compensation by the torque bias is possible without delay, the estimation error of the friction results in the disturbance. Thus, making full use of a disturbance observer, the above-mentioned subject is studied by introducing the dynamic compensator which compensates for the estimation delay. The effectiveness of this method is demonstrated in several simulation and experimental results.

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This paper deals with the active vibration control problem when the system is subjected to unknown deterministic disturbances which are generated by a linear dynamical system. A model reference adaptive technique is applied for control design. This algorithm can be implemented if only the upper bound of the degree of the disturbance dynamics is known. In addition, the solvability of the Diophantine equation is guaranteed. These facts indicate that this scheme is superior to the adaptive pole placement controller incorporating the internal model principle. Experimental results show the effectiveness of the control method presented in this paper.

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A new relay controller design of vibration isolators is presented from the viewpoint of the properties of the sliding mode. The sliding mode control system remains insensitive to a class of disturbance and parameter variations. The design of a relay controller which induces the sliding mode does not require accurate knowledge of the disturbance or of the system parameters; it is sufficient to know only those limits. The versatility of the variable structure system control encourages its adoption for vibration isolator control problems. In hybrid simulation and experimental studies, the isolation effect of the active isolator system is proven

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This paper describes a method of stopping the vibration of an arbitrary point on a structure set in vibration by a disturbing force by applying an additional controlling force to it. A theoretical procedure to derive the controlling force is described for the case where the equation of motion of the structure is known and the disturbance is a known of an unknown sinusoidal or random force. The procedure for the case where the equation of motion is unknown is also discussed. A method of designing a digital filter to realize the transfer function necessary for control is shown. Experiments are conducted to test the theory using a beam simply supported at both ends by exciters, thereby subjecting the beam to the disturbing force at one end and to the controlling force at the other end. The purpose of control is well achieved for both sinusoidal and random disturbances.

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This paper concerns the optimal design method of an active vibration controller with the optimal regulator theory. This theory is often used to control vibration because it can determine feedback gain vector systematically. However, the problem in the case of determining feedback gain in the design of a control system is that there is no definite method to determine design parameters. Therefore, this paper shows the new design method, by which the required dimensional design parameters can be determined directly from the optimal design chart. First it is found that the similarity law shows the relationship between the dimensional and nondimensional weighting matrix and feedback gain. From this, the response of the nondimensional state variables will be obtained by using the nondimensional weighting matrix and feedback gain. After this, the optimal design chart can be obtained from this response. It is demonstrated theoretically and experimentally that this method is effective for the design of an active vibration controller.

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This paper proposes a new method of simultaneous optimum design of dynamic absorbers for controlling multi-degree-of-freedom systems when each mode interacts dynamically. This method is based on the "sensitivity analysis" which examines the affect of variation in natural frequencies of other modes after mounting a dynamic absorber on the controlled mode. Resonance peaks of all modes are adequately controlled by mounting the corresponding dynamic absorbers, which were designed through iterative calculation using this method. The effectiveness of this method is demonstrated theoretically and experimentally, using a seven-degrees-of-freedom system, a Γ-shaped structure and a rectangular plate.

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This paper presents a new approach to the simultaneous optimum design of a structural and control system in order to realize an increasing number of elements. For simplicity, we take up a flexible beam as a dynamic model which based on the Euler-Bernoulli theory. The lateral vibration of beam is controlled under given disturbance. For simplicity, the transformation ratio of cross-sectional area is taken as a structural design variable. In this way, the number of the structural design variable is only one in spite of the increasing number of elements. However, the shape of the structure is limited. The location of the sensor and actuator is taken as a control design variable. These two design variables are optimized to minimize a performance function composed of kinetic and control energy. In the numerical examples, it is shown that the simultaneous optimum design of the structural and control system is useful.

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In an ordinary optimum design process, designers must express a design problem as a mathematical model with a single objective problem. However, there are an unusually high number of objectives in a structural design, so it will be hard work for designers to choose just one of them. In such cases, it will be natural and reasonable to formulate a multi-objective optimization problem. Recently, many studies have been done on the interactive multicriteria optimization problems. In conventional methods, designers have been required to make important and difficult decisions concerning the "trade-off ratio", "marginal rates of substitution", "surrogate worth trade-off" and so on. In this study, we modified qualitative reasoning, which has been mainly studied in the field of artificial intelligence, and applied it to an interactive multicriteria optimization process. It appears from a numerical example of the optimum design of a parabolic antenna that the proposed method may be applicable and effective for optimizations of complex systems by qualitative understanding and can support the decision making.

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Sensitivity analysis methods of the eigenmodes and frequency responses of coupled acoustic-structural systems are proposed for the purpose of reducing vehicle interior noise. The concept of the left and right eigenvectors with regard to coupled acoustic-structural eigenvalue problems is presented first and four propositions concerning this concept are then proven. Based on these propositions, the formulations for the modal sensitivity and modal frequency response sensitivity analyses are obtained. The theoretical results and computation equations are verified through the application of the methods to a coupled acoustic-box structure and a practical vehicle interior noise problem.

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Active noise control techniques have been studied in recent years as an available method of machinery noise reduction. Especially, there are many applications of them to ductlike structures where sound waved radiated from noise sources can be assumed to be traveling as plane waves. In most of these cases, the lengths by ducts were assumed to be infinitely long, and acoustic properties such as reflections and resonances inside the ducts have seldom been considered. In actual machines, however, the duct lengths ate often short because of the limit of machine dimensions; hence a basic study on active noise control for such short-length ducts is needed. This paper describes the modeling method of an active noise control system using a fixed FIR filter for short-length ducts. The results of simulation bclculations were compared with experimental data and good agreement was obtained.

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The active noise cancellation technique has been developed recently. When a system characteristic, i.e., transfer function, changes, we must also change the coefficients to cancel the noise. In that case, we should utilize the adaptive control technique. This paper describes the problem when using the adaptive control technique. A solution to this problem was considered by developing a simulation system with acoustic characteristics. We determined that the adapting process had a different characteristic of convergence according to signal periodicity. Finally, good agreement was obtained with experimental results of applying this solution to a rather short duct.

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Damping is a phenomenon of the gradual conversion of kinematics energy to heat. In general, damping action is too difficult to evaluate with certainty. When a member vibrates in a fluid such as air, water or oil, it is virtually impossible to calculate the amount of damping caused by the fluid motion in an analytic method. Nevertheless, it is possible to find analytic solutions in certain particular cases, mostly when the flow pattern is laminar. In this paper, we propose equations to be used in the calculation of damping in a few dampers such as the oil-film damper, oil damper and air damper. The effect of the frequency of the vibratory member on the damping may be considered in the analysis. Furthermore, it is necessary to give full consideration to the mass effect of oil and to the compressibility of air.

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The dynamic vibration absorbers consist of a mass and a viscoelastic element. As the mechanical models of the viscoelastic absorber element, the Voigt model, the Maxwell model and the three-element model are employed. The Voigt model is identical to the viscoeelastic element for the conventional dynamic absorbers. Another two models are new types of dynamic absorber elements. Using these models, each dynamic property and the response of primary mass with the dynamic absorber are compared. As the result, it is shown that though the dynamic properties of the Maxwell type are quite different from the Voigt type, they are equivalent in their reductive performance, and three-element type is superior to other two types.

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This paper shows the optimum design method of the hydraulic engine mount. This engine mount has been developed recently to significantly reduce the vibration in car bodies emitted by engines. The resonance peak of conventional engine-mount system can not be suppressed sufficiently. Hydrauric engine mounts are able to suppress the resonance peak by using the fluid reaction effect of the fluid enclosed in the mount. The design was recently modified by trial and error experimentation. Du to the lack of information on a suitable design, its ability had not been effectively demonstrated. In this paper, after analyzing the mount, its optimum design formula is obtained in a very simple and useful manner similar to the design equation of dynamic absorbers, The effectiveness of the formula is confirmed theoretically and experimentally.

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A cantilever-type dynamic absorber applies not only a force but also a moment to the main system, and it can be more effective than the conventional mass-spring dynamic absorber which applies only a force. In this paper, vibration control of a rigid plate by a cantilever-type absorber is investigated theoretically and experimentally. The vibrations of rotational modes are decreased more effectively by the cantilever-type absorber than by the conventional absorber. The absorber must be set such that the direction of the cantilever is normnal to the nodal line of the main plate. An autotuning system of the natural frequency and the direction of the absorber was constructed by making use of a personal computer and two stepping motors.

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The mechanical snubber is an earthquakeproof device for a piping system under particular circumstances such as high temperature and radioactivity. It restrains the piping system by a strong resisting force during an earthquake. This strong force can cause elastic failure of grooves on a brake disk, where steel balls are placed. In this report, an improved mechanical snubber having an adjustment mechanism for resisting force is proposed in order to obtain a mechanical snubber which has almost the same restraint effect and less resisting force in comparison with a conventional mechanical snubber. The resisting force characteristics and the restraint effect of the improved mechanical snubber applied to a simple beam are discussed both numerically and experimentally. The digital simulations are carried out using the Continuous System Simulation Language (CSSL).

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In this study, an active vibration absorber (DVA) driven by an AC servomotor through a ball screw was developed, the facilities of which are smaller than the usual one controlled by a servo hydraulic actuator. The optimization of the controller is performed taking account of the dynamic characteristics of the active DVA driven by a velocity control driver. By carrying out digital-computer-controlled-type tests and numerical calculations using a 4-story, 11-ton frame model structure, it is demonstrated that the adtive DVA (absorber's mass ratio to the structure is only 0.5%) can reduce the response of every story, not only the displacement but also the acceleration, to 1/3 compared with uncontrolled ones. The usefulness and feasibility of the present active DVA for high-rise buildings are clarified.

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This paper proposes a new hybrid dynamic absorber that combines an electro-magnetic actuator with a magnetic-damping-type dynamic absorber and shows its vibration controlling performances. Although the passive dynamic absorber with optimum adjustment conditions is able to control vibration well, the controlling effectiveness deteriorates markedly when these adjustment conditions fail. On the contrary, the active dynamic absorber expends a lot of energy for controlling vibration, instead of obtaining good control performance and robustness of control. In this paper, it is demonstrated theoretically and experimentally that the hybrid dynamic absorber has the advantages of both passive and active dynamic absorbers.

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In order to reduce vibration of large-scale bridge towers or supertall buildings induced by wind or earthquake excitations, a two-axis mass damper actively controlled by an AC-servo motor is developed. The feature of this mass damper also includes the passive mechanism of a pendulum by the use of a curve-shaped mass, so that the actuator requires much less power than do the conventional active mass damper. The high performance is verified by a model experiment with a 3m-high tower structure, whose horizontal vibrations in two directions are effectively reduced against wind or earthquake excitations.

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A spinning rotor partially filled with liquid becomes unstable in a certain region of rotation speed. For a stabilization method of this kind of rotor, an active dynamic vibration absorber is applied in this study, and the optimal control system is synthesized by using a simple parametric excitation physical model for the coupling vibration between the liquid and the rotor. The derived optimal state feedback gains are time-varying and in particular, those of the rotor states vary as a harmonic wave with frequency of twice the rotation speed. The usefulness of the time-varying control method was demonstrated by performing computer simulations and experiments of stabilizing control of the rotor containing liquid.

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Damping mechanisms based on gyroscopic moments are studied, and their characteristics are compared with other conventional damping mechanisms. The generalized gyroscopic stabilizing mechanism of Schlik's gyroscope is analyzed, and the optimal design method is derived. The resulting stabilizing effect is compared with the rotational dynamic damper. It turns out that the effect of the gyroscopic stabilizer depends on the rotating speed of the gyroscope; thus there is no essential limitation by the inertial moment such as there is with the dynamic damper. The gyroscopic moments can be used more actively for the improvement of transient responses. The single-gimbal CMG (control moment gyro) is compared with the RW (reaction wheel), and the driving torque for the actuators is discussed. Experiments with a single-gimbal CMG for a pendulum are carried out and the results prove the efficiency.

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A vibration controller for rotary machines using an unbalance has been manufactured as a trial. This vibration controller can be easily set on existing rotary machines. The operation for a vibration reduction is similar to the procedure of balancing; that is, the magnitude and phase of the unbalance of the vibration controller are automatically determined to reduce the vibration of rotary machines. The slider crank mechanism is applied to vary the magnitude of unbalance, and the synchronous control of a rotary machine and the vibration controller enables us to vary the phase of unbalance. A good result for the vibration reduction is shown by the experiment using it for a simple rotary machine.

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Magneto optical disk systems have recently come into use. However, magnetooptical disk drives have certain disadvantages compared to magnetic hard disk drives such as low access speed and low data rate. A small, light optical head and high-speed rotation of the disk would improve the performance, as well as achieving over write. This paper details the development of small, light tracking actuators, which can be used in high-speed disk rotation and make the optical head small. The actuator suspension, which raises the frequencies of higher order mechanical resonance, is discussed. Also, the cross leaf spring suspension a with visco elastic damping layer is employed as the result of the theoretical analysis. We also evaluated the vibration characteristics of the actuator experimentally. The results show that the frequencies of higher order mechanical resonance are above 60 kHz. A moving magnet motor drives the actuator. The design and performance of this motor are clarified.

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A new simple method for controlling end point motions of a high-polymar piezoelectric actuator is presented. The method aims at controlling tip motion by directly computing the input voltage. A numerical inversion of Laplace transform is used to obtain the results in the time domain. The results show the effectiveness of the method for the control of a high-polymar piezoelectric actuator.

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This paper describes an active isolation system using state feedback control and its design method in order to reduce microvibration of a floor. First, the limit of the passive isolation system with an air-damped spring is shown by computer simulations and experiments. Secondly, an active isolation moel using state feedback control is constructed and its design method is suggested in consideration of the controlled system natural frequency, damping factor and stiffness. Lastly, it is shown that the actively controlled system is not only more effective than the passive system but also has sufficient stiffness.

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Most space experiments require very low gravity level. The active vibration control system utilizing electro-magnetic suspensions is being developed to isolate gravity sensitive payload (experimental equipment) from spacecraft vibrational and impulsive disturbances transmitted through rack. Ground model experiment was conducted to verify the control performance of the system with the payload model hanging by the wire to approximate microgravity environment. Results of the experiment showed very good agreement with those of theoretical values and to be applicable to aircraft experiment.

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Mass storage systems (MSS) equipped with automatic media-handling mechanisms, have become widely used in the field of information processing, and higher speed of media handling is desired. This paper investigates faster media handling achieved by using an observer to compensates for disturbances such as solid friction and inertia variations. First, two disturbance observers are introduced in the handling mechanisms. One is an adaptive observer of nonlinear characteristics of solid friction. The other is a constant disturbance observer. These observers can estimate solid friction as well as state variables such as velocity. In addition, by using these disturbance observers to estimate the state and to test the positioning control of a media-handling mechanism, the effectiveness of the observers is confirmed. It is also shown that a disturbance observer can be used to compensate for inertia variations.

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This paper is concerned with the problem of active attenuation of periodic low-frequency noise in a room. A system utilizing the signal from a reference microphone and a synchronous signal from a noise source has been developed. The results show that the adaptive scheme can cope with variations in noise characteristics, and that the controller compensates the nonlinear distortion of the secondary source to achieve optimum attenuation. It is also found that the synchronous average of the reference signal suppresses the influence of other sounds such as conversation to maintain optimum attenuation.

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Design methods of control systems for positioning and vibration suppression of a flexible pendulum hinged to a cart are investigated analytically and experimentally. The analysis of characteristic root loci shows that the LQ regulators designed by neglecting higher-order elastic modes are subject to become unstable because of the excitation of the residual modes. It is also shown that the design method to optimize the frequency-shaped cost functionals proposed by Gaupta is effective to turn the effect of control forces on the higher-order modes to the stable side. The analytical results are examined by experiments.

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For a control method of torsional vibration of flexible structures, a control technique using an inertia-moment actuator is presented in this study. In this method, torsional vibration of a flexible structure is controlled by the inverse torque arising when rotating an auxiliary mass by a motor. In addition, a method of synthesizing of the control system is also presented for the case using a low-pass filter to suppress the spillover of unmodelled modes and noise. The optimal feedback gains are modified by formulating a control problem with the control structure constraint taking into account of the dynamic characteristics of the filter. The usefulness of the proposed control techniques was verified by carrying out the numerical calculation and control experiment.

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For a control method of bending-torsion-coupled vibration of a rotating thin plate, a control mechanism using double-tendon mechanisms is presented in this study. First, the modeling of the proposed mechanism is carried out by applying the modal expansion technique. Secondly, by applying the optimal control theory, the optimal control law is derived for a reduced-order system. Finally, in order to investigate the usefulness of the proposed mechanism, computer simulations and experiment are carried out. In summarizing the results, it was demonstrated that the proposed control mechanism is useful for the control of both the position and bending-torsion-coupled vibration.

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A new control design of flexible arms using the theory of variable structure systems (VSS) is presented. The control is designed so that a new type of state space trajectories called sliding modes exists. While in the sliding mode, the performance of the system remains insensitive to parameter variation and disturbance. This property of VSS is very important in eliminating the effects due to load variation of the arm. Both simulation and experiment demonstrate the satisfactory performance of the slidding mode control system for the flexible arm.

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This study is concerned with a spillover problem for magnetic levitation systems. At first, we show the typical spillover phenomena caused by the interaction between the control system and the structure system of the magnetic levitation system. Also, we show some good data of the controlled spillover by means of notch filters. Next, applying the H_∞ control theory to a magnetic levitation system, we design the control system for that system without spillover and describe in detail how to design a H_∞ controller. In this paper, we assume the magnetic levitation system as a one-axis control system for simplicity, which is the five-order system with the exception of the guideway. As a result, it has been clarified that the H_∞ controller has the characteristics of two kinds of filters, a low-pass filter and a notch filter.

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Active magnetic bearings have the advantages of being oil-free and clean, do not waer out, provide maintenance-free operation and are able to function under conditions of high or low temperature, high pressure, or in a vacuum. Furthermore, there are other benefits, such as enabling high peripheral velocity rotation not achievable by other bearings. However, the lack of mechanical contact and feedback control cause a problem in that the rotor easily vibrates at its natural frequency. This can be overcome by means of an additional compensator for the rotor shaft bending mode besides the conventional PID compensator. The author will demonstrate the vibration control effect by using a functional model simulation and vibration experiments.

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In order to pass through critical speeds of the free-free mode of a flexible rotor, a method of changing the control gain of magnetic bearings depending on rotational speed is proposed in this paper. Some preliminary tests are done by applying this method to a rigid rotor. Two critical speeds of rigid mode are passed through by changing the control gain of rigidity depending on rotational speed even without the controller damping effect. The maximum amplitude can be maintained at less than 10μm within the whole range of test speeds.

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This paper presents the possibility to improve the dynamic performance of trucks by semiactive control for rail vehicles. According to the direction of vehicle motion, the truck parameters are switched in a longitudinally asymmetric manner. A realistic method of semiactive control has been proposed in order to give compatibility between the dynamic stability and perfect steering around curves, i. e., the primary longitudinal stiffness of the trailing axle is larger than that of the leading axle and the primary yaw damper is set only on the leading. The switch for bidirectional operation is made by the change of the damping force of the yaw damper. Another truck for parameter control has been proposed: a truck with unsymmetrical interwheelset structure equipped with the trailing axle rotating independently. This truck is better in high-speed stabildty than a conventional truck if the ability to steer around curves is the same.

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In this paper, the optimization of the suspension was performed by using the criterion taking account of human sensitivity in order to improve the riding comfort. For the purpose of decreasing the vibration at an uncomfortable frequency range for human beings, the frequency-shaped criterion was formulated. An active suspension with feedback and feedforward controls was designed by using the optimal control theory from the criterion. The suspension model is assumed to be a two-degree-of freedom system, and the acceleration of road unevenness is taken to be colored noise. From numerical calculations and experiments, it was made clear that optimal control with a feedback link alone obtained from the frequency-shaped criterion function can reduce the acceleration of a vehicle at the desired frequency range. Furthermore, it was clarified that the control with a feedforward link is more useful than the one with a feedback link alone in the same control force.

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The Toyota Active Control Suspension system detects the vehicle state by various sensors to control the oil pressure in the hydraulic cylinder with the linear pressure control valve. In order to develop this system, the effect of active control has been investigated by simulations and experiments on the CELICA Active Sports model. As a result, a control algorithm has been established for attitude control, ride control, maneuverability and stability control with a four-wheel-steering system (4WS).

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Adaptation of active control to car chassis is expected to improve the ride comfort quality, vehicle controllability and stability. In this study, the experimental vehicle is equipped with a front active steering system and independent hydropneumatic suspension systems, which are integrated control elements and power sources. The performance is examined by running tests, in which the riding-comfort characteristics are fairly improved and the effects of both steering and suspension controls are confirmed to induce the stable controllability and stability of the vehicle.

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The conventional traction control system has only a slip control feature which prevents wheel spin when starting or accelerating on a slippery road surface. This paper describes the unique safety technology of an advanced traction control system which enables the driver to trace corneers on a paved road smoothly and safely by preventing excessive lateral acceleration.

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The authors propose a method of controlling the position of a manipulator with passive joints which have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. In this paper, the effectiveness of the method is verified by experiments using a prototype manipulator. The prototype is a two-degree-of-freedom, horizontally articulated manipulator. The first axis is an active joint and the second axis is a passive joint. While the brake of the passive joist is released, the passive joint is indirectly controlled by the motion of the active joint through the use of dynamic coupling. While the brake is engaged, the active joint is controlled. By combining these two control modes, the total position of the manipulator is controlled. The experiments show that the precise positioning of the passive joint is feasible by use of the proposed method.

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With the recent remarkable progress in mechatronics technology, a computer simulation technique has been developed for the analysis of dynamic response in linkage mechanisms coupled with control systems. The "beam element with motor" for large displacement and the "transfer element" have been developed, and the background theory for these elements is presented herein. Application is made to an actual painting robot, yielding accurate results, thus establishing the validity of these elements. From these elements, the influence of beam stiffness, torsional stiffness of the reduction gear, and other characteristics can be obtained. This technology will prove to be valuable for the design and development of new machinery and control systems as well as mechanical systems in fields such as robotics and construction.

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As the motor which drives a robot arm produces d torque ripple effect, the resulting resonance vibration in the robot arm impedes the robot's high locus precision. To counteract this problem, using software servo, a correction signal which cancels the torque ripple is fed into the system, and this eliminates resonance vibration. The method for this procedure is presented in this paper. For the derivation of this correction signal, the theory for single-plane balancing of rotor vibration may be applied, which makes it possible to derive the correction signal accurately and systematically. Experimental testing in which this technique was applied to a robot of one degree of freedom was performed. The experimental results adequately verified the effectiveness of this technique.

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A robot arm with high speed response is desired, but the development of a rapid robot compels us to take the bending dynamics of the arm into consideration. That is, the plant is no longer a low order lumped parameter system. Although the order of the plant is never infinite, it must be rather high. In order to obtain a reasonable control law, it is necessary to use a reduced order model for the plant because the time to be spent for computing the control signal for each sampling instance is strictly limited. The pole assignment technique is employed to control the angular position in this paper. The placement of poles far away from the imaginary axis is desirable for obtaining a quick control system, but may result in spillover instability.

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Nonlinear manipulator dynamics is identified as capable of realizing the high-speed adaptive control. One of the biggest problem of realizing the fast motion of a robotic manipulator is its dynamic reflection. The driving torque calculated from the mathematical model compensates well for this reflection, but the dynamic property changes according to payload and manipulator configuration. This paper introduces a high-speed adaptive control technique using identification. First, the manipulator is controlled only by a planned trajectory. A nonlinear discrete equation is then applied to the time series signal to identify the manipulator dynamics. The dientified equation is used to calculate the actuating signal which produces the following motion. The proposed technique is applied to the three-dimensional positioning of a multijoint manipulator.

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