ReIm
6.3 固有値の位置と応答
A
45
= 6
6
6
6
6
6
6
6
4
0 0 0 0
0 0 0 3K
5
l
4 (4M
4 +m
4 )
0 3D
d
5
l
4 (4M
4 +m
4 )
0 0 0 0
0 0
4K
5
4M
4 +m
4
4D
d
5
4M
4 +m
4 7
7
7
7
7
7
7
7
5
A
5
= 2
6
6
6
6
6
6
6
6
4
0 1 0 0
3g (M
5 +m
5 )
l5(4M5+m5) 0
3D
5 (M
5 +m
5 )
m
5 l
5 3
(4M
5 +m
5 )
0
3Dx
5
l5(4M5+m5)
0 0 0 1
0 3M5g
4M
5 +m
5
3D
3
l
5 (4M
5 +m
5 )
0 0 4Dx
5
4M
5 +m
5 3
7
7
7
7
7
7
7
7
5
; B
5
= 2
6
6
6
6
6
6
6
6
4
0
0 3
l
5 (4M
5 +m
5 )
0
4
4M
5 +m
5 3
7
7
7
7
7
7
7
7
5
A
54
= 2
6
6
6
6
6
6
6
6
4
0 0 0 0
0 0 0 3K5
l5(4M5+m5) 0
3D
d
5
l5(4M5+m5)
0 0 0 0
0 0
4K
5
4M
5 +m
5
4D
d
5
4M
5 +m
5 3
7
7
7
7
7
7
7
7
5
; A
55
= 2
6
6
6
6
6
6
6
6
4
0 0 0 0
0 0
3K5
l5(4M5+m5)
3D
d
5
l5(4M5+m5)
0 0 0 0
0 0 0 4K
5
4M
5 +m
5 0
4D
d
5
4M
5 +m
5 3
7
7
7
7
7
7
7
7
5
つぎに, 時間応答のグラフを示す. ただし,グラフにおいて, y軸は並列結合構造と直列 結合構造における結合・分離の 16パターンを表していて, 図6.3, 図6.4 のようになって いる.
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4 1:
2:
3:
4:
5:
6:
7:
8:
9:
10:
11:
12:
13:
14:
15:
1 2 16:
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
1 2
3 5 4
図 6.3: Parallel structure
2 3 4 5 1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1 1:
2:
3:
4:
5:
6:
7:
8:
9:
10:
11:
12:
13:
14:
15:
16:
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
2 3 4 5
1
図 6.4: Series structure
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.5: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.6: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.7: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.8: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.9: 5
設計法1,並列結合構造
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.10: _1
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.11: _2
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.12: _3
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.13: _4
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.14: _5
設計法1,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.15: x1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.16: x2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.17: x3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.18: x4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.19: x5
設計法1,並列結合構造
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.20: x_1
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.21: x_2
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.22: x_3
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.23: x_4
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.24: x_5
設計法1,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.25: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.26: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.27: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.28: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.29: 5
設計法1,直列結合構造
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.30: _1
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.31: _2
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.32: _3
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.33: _4
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.34: _5
設計法1,直列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.35: x1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.36: x2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.37: x3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.38: x4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.39: x5
設計法1,直列結合構造
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.40: x_1
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.41: x_2
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.42: x_3
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.43: x_4
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.44: x_5
設計法1,直列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.45: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.46: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.47: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.48: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.49: 5
設計法2,並列結合構造
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.50: _1
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.51: _2
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.52: _3
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.53: _4
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.54: _5
設計法2,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.55: x1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.56: x2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.57: x3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.58: x4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.59: x5
設計法2,並列結合構造
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.60: x_1
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.61: x_2
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.62: x_3
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.63: x_4
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.64: x_5
設計法2,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.65: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.66: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.67: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.68: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.69: 5
設計法2,直列結合構造
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.70: _1
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.71: _2
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.72: _3
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.73: _4
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.74: _5
設計法2,直列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.75: x1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.76: x2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.77: x3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.78: x4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.79: x5
設計法2,直列結合構造
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.80: x_1
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.81: x_2
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.82: x_3
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.83: x_4
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.84: x_5
設計法2,直列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.85: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.86: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.87: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.88: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.89: 5
設計法3,並列結合構造
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.90: _1
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.91: _2
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.92: _3
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.93: _4
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.94: _5
設計法3,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.95: x1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.96: x2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.97: x3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.98: x4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.99: x5
設計法3,並列結合構造
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.100: x_1
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.101: x_2
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.102: x_3
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.103: x_4
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.104: x_5
設計法3,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.105: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.106: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.107: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.108: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.109: 5
設計法3,直列結合構造
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.110: _1
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.111: _2
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.112: _3
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.113: _4
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.114: _5
設計法3,直列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図 6.115: x1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.116: x2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図 6.117: x3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.118: x4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図 6.119: x5
設計法3,直列結合構造
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.120: x_1
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.121: x_2
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.122: x_3
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.123: x_4
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.124: x_5
設計法3,直列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.125: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.126: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.127: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.128: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.129: 5
設計法4,並列結合構造
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.130: _1
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.131: _2
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.132: _3
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.133: _4
0 1
2 3
4 5
0 5 10 15
−3
−2
−1 0 1 2 3
second structure
rad/s
図6.134: _5
設計法4,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図 6.135: x1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.136: x2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図 6.137: x3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図6.138: x4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
m
図 6.139: x5
設計法4,並列結合構造
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.140: x_1
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.141: x_2
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.142: x_3
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図6.143: x_4
0 1
2 3
4 5
0 5 10 15
−1.5
−1
−0.5 0 0.5 1 1.5
second structure
m/s
図 6.144: x_5
設計法4,並列結合構造
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.145: 1
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.146: 2
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.147: 3
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.148: 4
0 1
2 3
4 5
0 5 10 15
−0.2
−0.1 0 0.1 0.2
second structure
rad
図6.149: 5
設計法4,直列結合構造