三次元弾性加振台の振動と運動の制御　（第１報，巨大震動台の多モード振動に対応できる制御手法の提案）

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  • Motion and Vibration Control of Three Dimensional Flexible Shaking Table(1st Report,Proposal of a New Method for Controlling the Multi Mode Vibrations in Shaking Table)
  • 3ジゲン ダンセイカシンダイ ノ シンドウ ト ウンドウ ノ セイギョ ダイ1ポウ キョダイ シンドウダイ ノ タモード シンドウ ニ タイオウ デキル セイギョ シュホウ ノ テイアン

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This paper deals with a design procedure of control system for a three-dimensional flexible shaking table. The shaking table should be less weighted so that actuators require less control forces and higher fidelity to control commands. However, as the weight of shaking table is reduced, the natural frequencies of vibration modes of the table appear on operating frequency region. Such vibration modes get into problem that may cause spillover instability. So, the research purpose is to control the such vibration and motion of the shaking table by using the reduced order modeling technique and LQ, LQI control theory. The modeling procedure and the control design are described. Control simulations on the discrete model are carried out to demonstrate the effectiveness of the method. Experimental work is shown to demonstrate a final verification.

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