211 ケーブル長の操作による振り子の振動制御(振動低減・振動制御,OS-1 振動基礎,総合テーマ「伝統を,未来へ!」)

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  • 211 Vibration Control for a Pendulum via Cable-Length Manipulation

説明

This paper presents a novel vibration control technique for a pendulum via cable-length manipulation. First of all, we derive the equations of motion for a pendulum with variable cable-length. In order to control the sway angle by using the reeling and unreeling of the hosting cable, we adopt a nonlinear feedback control in which a parametric resonance phenomenon is utilized. The feedback gains are determine by use of a particle swarm optimization so as to reduce as much as possible the sway angle. The ability of the proposed control technique is confirmed by numerical simulations. Furthermore, the realization and effectiveness of the present approach are verified by experiments.

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