研究者情報 | 神奈川大学

クリハラ　カイ Kurihara Kai 栗原　海所属神奈川大学工学部機械工学科職種助教
言語種別	英語
発行・発表の年月	2021/06
形態種別	学術雑誌
査読	査読あり
標題	Suppression of residual vibration in nonlinear systems with temporal variation and uncertainty in parameters by elimination of the natural frequency component
執筆形態	共著
掲載誌名	ASME Journal of Dynamic Systems, Measurement, and Control
掲載区分	国外
出版社・発行元	ASME
巻・号・頁	143(10)
担当区分	責任著者
著者・共著者	◎Hiroki Mori, Kai Kurihara, Nobuyuki Sowa, and Takahiro Kondou
概要	A systematic approach is developed for determining a control input for the point-to-point control of an overhead crane that exhibits temporal variation of rope length in addition to damping and nonlinearity, without inducing residual vibration. Complete suppression of the residual vibration is achieved by eliminating the natural frequency component of the cargo from the apparent external force, which is defined to include the effects of damping, nonlinearity, and parameter variation. Furthermore, an effective technique previously proposed by the authors for improving robustness to the modeling error of the natural frequency is extended. Numerical simulation results show that, even when cargo is hoisted up or down during operation, the proposed method realizes accurate positioning of the cargo without inducing residual vibration and sufficiently improves robustness.