1991年12月
Y. Murotsu,S.Tsujio,K,SendaandA
Thispaperisconcernedwiththeoptimaltrajec‑
torycontrolofanintelligenttrussstructurecom‑
posedofatruss‑typemechanism.Theintelligent adapt{vestructurecanchangeitsgeometricconfig‑
urationaswellasphysicalpropertiesinorderto meetmissionrequirements.Manyvariable‑length membersareincorporatedintheintelligent adaptivestructure,resultinginahighlyredundant system.Thus,theintelligentstructurewhichisused asamanipulatorarmcanutilizetheredundancy fortheoptimizationoftrajectorycontrol.Efficient controlmethodsareproposedforthetrajectory controloptimizingaperformanceindexbyusing theredundancy,Thevalidityoftheproposed methodsisdemonstratedthroughnumericalsimula‑
tions.Anadequateperformanceindexenablesthe intelligentadaptivestruturetobeanapPropriate configuration.
■SystemldentificationandResolvedAccel‑
erationControlofSpaceRobotsbyUsing ExperimentalSystem
(実 験 装 置 を 用 い た 宇 宙 ロボ ッ トの シ ス テ ム 同 定
と分 解 加 速 度 制 御)
murnfiberorientationanglesofmultiaxiallami‑
natesaredeterminedbasedonreliabilityand cornparedwiththoseunderthedeterministiccondi‑
tions.Effectsoftheprobabilisticpropertiesofloads andstrengthsarediscussedonthereliabilityand optimumdesing.Fromthenumericalresultsitis concludedthattheoptimumfiberorientation anglesoflaminaetsaremuchdifferentbetweenthe deterministicandprobabiIisticcondtionsandthat thereliabilityofthemultiaxiallaminatesin‑
creaeseswiththeincreaseinthenumberoforienta‑
tionaxesunderprobabilisticconditions.Asa result,theoptimumIaminatesapProachtoaquasi
‑isotropicconstructionwhentheuncertaintiesin thestressesandstrengthsaretakenintoconsidera・
tion.
■知 的 トラス 構 造 物 の 動 的 荷 重 条 件 に対 する最 適 適 応 形 態
室 津 義 定,郡 暁 文
日 本 機 械 学 会 論 文 集,A57‑541,2140‑
2147(1991)
Thispaperisconcernedwiththeoptimal adaptivegeometriesofintelligenttrussstructures underdynamicalIoadings.Theoptimalgeometryis attainedbychangingthelengthsofsomeactive membersinstalledinthestructuretoobtainthe maximumstructuralstrength.Dynamicalanalysis byNewmarkβmethodisintroducedintothegeom‑
etryoptimizationproblem.Theintelligenttruss structureisassumedtobeeitherfixedatthebase orinafloatingstate.Fromthenumericalexam‑
ples,thefollowingconclusionsaredrawn二(1)For animpactload,thelargeststressexistsintheplace whichisdirectlysubjectedtotheimpactandthe geometryofthestructurecannotimprovethe structuralstrength,(2)ForaIoadactingforalong time,thereexistsanoptimalgeometrywhichpro・
videsamuchhigherstructuralstrengththanother geometriesofthestructure.
■ 信 頼 性 に 基 づ く繊 維 強 化 複 合 材 料 積 層 平 板 の
最 適 設 計
郡 暁 文,三 木 光 範,室 津 義 定
日 本 機 械 学 会 論 文 集,A57‑541,2166‑
2172(!991)
Inthispaper,thestructuralreliabilitytheory{s appliedtomultiaxialfiber‑reinforcedlaminate systems.Thefirst‑ply‑failurecriterionisadopted forthereliabilityanalysisofthelaminatesystems, andthemultiple‑check‑pointmethodissuccess‑
fullyapPliedtoevaluatethereliabilitiesofbiaxial, triaxialandtetraaxiallaminatesunderthe probabilisticin‑planestresses.Thereliability‑
basedoptilnumfiberorientationanglesofmultiax・
iallaminatesaredeterminedandcomparedwith
thoseunderthedeterministicconditions.Further, someeffectsoftherandolnpropertiesofloadsand strengthsarediscussed.FromthenumericaIresults it{sconcludedthattheoptimumfiberorientation anglesofIaminatesareverydifferentbetweenthe deterministicandprobabilisticconditionsandthat thereliabilityofthemultiaxialIaminatesincreases withtheincreaseinthenummberoforientation axesunderprobabilisticconditions.Asaresult,the opt{mumlaminatesapProachtoquasi‑isotropic constructionwhentheuncertaintyinthestresses andstrengthsistakenintoconsideration.
■ReliabilityEvaluationMethodsforSystems withComplexLimitStates
(複 雑 な 限 界 状 態 関 数 を 有 す る シ ス テ ム の 信 頼 評
価 法)
S.ShaoandY.Murotsu
in:P.Thoft‑Christensen(ed,),Reliability andOptimizationofStructuralSystems
'91
,Springer‑Verlag,325‑338(1991) ForthestructuralsystemswithcomplexIimit statefunctions,theestimationbyAFOSMmethod rnayyieldlargeerrorbecauseoftheapProximation atonlyonedesignpoillt.Inthispaper,analgorithm namedFOSMUOP3isdevelopedtosystematically findrnultiplecheckpointsonthelimitstatesur‑
face.Thenthelimitstatefunctionsarelinearized attheselectedpointsormultipleimportancesam‑
plingdensityfunctionsaredefinedatU‑spacedon thosepoints.Theproposedmethodsareappliedto thereliabilityanalysisofsomesystems,andtheir featuresarecornparedanddiscussed.
■Reliability‑BasedOptimumDesignfor MultiaxialFiberReinforcedLaminateSys‑
tems
(繊 維 強 化 複 合 材 料 多 軸 積 層 板 の 信 頼 性 に 基
づ く最 適 設 計)
S.Shao,M.MikiandY.Murotsu
in:P.Thoft‑Christensen(ed.),Reliability andOptimizationofStructuralSystems '91
,Springer‑Verlag,339‑350(1991) Thispaperisconcernedwiththeoptimumdesign ofmultiaxialfiberreinforcedlaminatesystems underprobabiblisticconditionsofloadsandmate‑
riaIproperties.Amultiaxiallylaminatedcomposite istreatedasastructuralsystemwitheachply containedinthecompositeasoneelement.The Tsai‑Wufailurecriterionisadoptedasthelimit statefunctionofaurlidirectionalply.Itisassumed thatthesystemfailureoccurswhenanyoneofthe pliesinalaminatesystemfails.Themultiple‑point methodissuccessfullyappliedtoevaluatethesys‑
temreIiabilitiesofmultiaxiallaminatesunderthe
probabilisticin‑pianestresses.Anoptimization problemisdefinedtofindtheoptimalnumberof fiberorientationaxes,orientationangles,andply ratioswhichyieldthehighestsystemreliability.
■繊 維 強 化 複合 材 料 積 層 板 の 最 適 信 頼 性 設 計 郡 暁文,三 木光 範,室 津 義定
第2回 日本構 造 安 全性 お よび信 頼 性 会議 論 文 集,301‑308(1991)
Thispaperisconcernedwiththeoptimumdesign ofmultiaxialfiberreinforcedlaminatesystems underprobabilisticconditionsofloadsandmateriaI properties.Themultiple‑check‑pointmethodis successfullyappliedtoevaluatethesystemreliabil‑
itiesofbiaxia1,triaxialandtetraaxiallaminates.
Theoptimalfiberorientationanglesandplyratios aredeterminedtoattainthehighestsystemreliabil‑
ity.Fromthenumericalresults,itisconcludedthat theoptimumfiberorientationanglesoflaminates aremuchdifferentbetweenthedeterministicand probabilisticconditionsandthattheoptimumlami‑
nateapProachestoacross‑plyundertheprobabilis‑
ticin‑planestresseswithoutshear.
■多 点 重 点 サ ンプ リング法 および 多 点 線 形 近 似 法 による構 造 システム信 頼 性 評 価
郡 暁 文,室 津 義定
第2回 日本 構造 安 全性 お よび 信頼 性 会 議 論 文 集,457‑464(1991)
ForthestructuralsystemswithcomplexIimit statefunctions,thereliabilityestimationby AFOSMmethodmayyieldlargeerrorbecauseof theapproximationatonlyonedesignpoint.Inthis paper,analgorithmnamedFOSMUOP3isdeve1‑
opedtosystematicallyfindmultipiecheckpoints onthelimitstatesurface,ThentheIimitstate functionsarelinearizedattheselectedpointsand multipleimportancesamplingdensityfunctionsare definedatU‑spacebasedonthosepoints.Analgo‑
rithmisalsoproposedforthestandardizationof dependentnon‑normalrandomvariab正eswiththeir marginaldistributionsandcorrelationcoefficients given.Thevalidityandthefeaturesoftheproposed methodsaredemonstratedthroughseveralnumeri‑
calexamples.
■破 損 条 件 式 の 複 合 線 形 化 近 似 に よ る骨 組 構 造 の 最 終 強 度 解 析 とそ れ に 基 づ く信 頼 性 評 価
岡 田 博 雄,山 本 浩 志,中 津 健 治,室 津 義 定 関 西 造 船 協 会 誌,216,225‑230(1991)
Thispaperisconcernedwiththeultimate strengthandreliabilityanalysisofframestruc‑
tures.Themult{plesurfaceapproximationforthe failureconditionofanelementisfirstintroduced, whichtakesaccountofthenonlinearplasticity
conditionunderbiaxialbendingmomentsandan axialforce.Thefailureconditionfacilitatesthe moreaccuratecalculationoffailureprobabilities throughtheautomaticgenerationofultimatecol.
Iapsemodes.Theso‑calledbranch‑and‑bound methodisapPliedtoselecttheprobabilistically dominantfailuremodes.Finally,theproposed methodisappliedtoaplaneframeworkunderin‑
planeandout‑of‑planeloads.Throughnumerical example,theapplicabilityoftheproposedmethod isdemonstrated.
冒立 体 薄 板 構 造 の 最 終 崩 壊 モー ドの 生 成 とそれ に 基 づ く信 頼 性 評 価 の 一 方 法
岡 田 博 雄,室 津 義 定,上 山 圭 司,原 田 実, 近 藤 和 也
日本 造 船 学 会 論 文 集,170,483‑491(1991)
Thispaperisconcernedwiththeultilnate strengthandreliabilityanalysisofship'shull girdeτs,whicharecomposedofthespat{almem‑
braneelementsandsubjectedtocornbinedstatic loadsandextremewaveloads.
TheIinearizedfaHureconditionofanelementis firstintroduced,whichtakesaccountoftheyield‑
ingandbucklingcollapseunderthep!anestress condition.Thefailurecriterionfacilitatesthegen・
erationofsafetymarginsandthecalculationof failureprobabilities.Structuralfailureisdefinedas thegenerationoflargedeformationduetocollapse.
Theso‑calledbranch‑and‑boundmethodisapplied toselecttheprobabilisticallydorninantfailure modes,whichsavesthecomputationaleffortsnec‑
essarytoperformareliabilityanalysisoflarge‑
ScaleStrUCtUreS.
Fina11y,theproposedmethodsareappliedto spatialplatestructuresidealizedformode11ing malnhullgidersofanoiltankerandabulkcarrier undertwoloadingconditions.Througthnumerical examples,thepropertiesofproposedmethodsare investigated.
mReliability‑BasedApProachtoDesignof Semi‑SubmergedCatamaran
(半 没 水 型 双 胴 船 の 設 計 に 対 す る 信 頼 性 に 基 づ
く方 法)
Y.Murotsu,H.Okada,T.Tanaka, T.Oishi,0.Niho,K.Nishimura Proc.ofICASP6,6thInternationalConf.
onApplicationsofStatisticsandProbabil‑
ityinCivilEngineering,953‑960(1991) Areliability‑basedapproachisappliedtothe structuraldesignofaSemi‑SubmergedCatamaran
(SSC),oneofnovelships.Theapproachconsistsof probabilisticplasticcollapseanalysisandfai王ure modeanalysis,yieldingnotonlycomponentreli一
abilitybutalsosystemreliability.Waveloadsfor anSSCareanalysedbythreedimensionalsingulari‑
tytheory,andreliabilityanalysisisthencarried out.Effectsofsomedesignalternationsonsystem reliabilityarealsodiscussed.Thispaperhighlights
importanceofthereliability‑basedapproachto designofnovelshipsandshowshowtoapply reliabilityconceptstoanactualship.
■ReliabilityAssessmentTechniquesApplied totheDesignofMarineStructures
(海 洋 構 造 物 の 設 計 へ の 信 頼 性 評 価 法 の 応
用)
Y.Murotsu,H.Okada,T.Oishi,0.Niho, K。Nishimura,H.Kaminaga Proc.ofthe10thInternationalConf.on OffshoreMechanicsandArcticEngineer‑
ing,229‑235(1991)
Astructuralreliabilityassessmentsysteminte・
gratingreliabilityassessmenttechniquesandstruc‑
turalanalysisisdeveloped,andtheunderlying theoryandthesystem'soverviewareprovided.
ApplyingthesystemtoaSemi‑SubmergedCatama‑
ran(SSC)ship,importanceofsystemreliabilityis highlighted,comparedwithcQmponentreliability.
Further,reliabilityana正ysisofastiffenedplatefor anupperdeckstructureisperformedwithseveral analysismethods.Dominantdesignfactorsarealso investigatedthroughsensitivityanalysistechniques ofthedevelopedsystem.
日ADevelopmentofComputerSupportSys‑
temforWingDesign
(主 翼 設 計 に 対 す る計 算 機 支 援 シ ス テ ム の 開 発) Y.Murotsu,C.S.Park,M.Ichikawa
ChineseJournalofAeronautics,4‑2,141‑
149(1991)
Sinceittakesalongtimetodesignanaircraft, thesuccessionortheacquirementofknowledges andtechnologiesisakeytoprovidetoaircraft designhighqualityandproductivity,Thispaper describesacomputersupportsystemforwing designusinganewtoolbasedonanobject‑oriented approach,Thesystemisprogrammedinamodule ofobjectswhichrepresentdesigntasksordesign knowledges,Themodulatedprogramgivesadvan‑
tagestomaintainandextendthesystemeasily.
Thesystemprovidestousersaflexiblesupport withexcellentuserinterfacewhichconsistsof mouse,menu‑drivensystem,andwindowsystem.
■LaserProbeDevelopmentsinAeroengine Research
(航 空 エ ン ジ ン 研 究 に お け るレー ザ 計 測 法 の 開 発) S.FujiiandM.Gomi
Proc.1991YokohamaInt.GasTurbine Congress,III‑295‑302(1991)
Presentedhereinarethesummaryandoriginal compilationofthepresentauthors'researchon laserdiagnosticsthathasbeencontinuedforthe past15years.ThecombineduseofLDVandCARS fQrthesimultaneousmeasurementofvelocityand temperatureatthesamepointinspaceisdiscussed.
CompactandhighlysimplifiedCARSsystemis proposedwiththeapplicatiorlexamples.
■OptimumSpacingControloftheMarching GridGeneration
(前 進 型 格 子 形 成 の 格 子 幅 最 適 制 御)
K.Nakahashi
AIAAPaperNo.91‑OIO3(1991) Apoint‑wisemarchingproceduretogeneratethe gridisdevelopedforexternalviscousflowcompu‑
tationsaboutcornplexgeometries.Thegridspac‑
ingsinthemarchingdirectionarecontrolledby usinganoptimizationtechniqueinwihchthe advancinggridsurfaceisminimizedunderan isoperimetricconstraint.Thisisphysicallysimilar totheminimizationofthefreesurfaceofaliquid bythesurfacetension.ThustheresuItinggridis expectedtobenaturallysmootheveninconcave regions.Forthree‑dimensionalproblems,the methodisappliedtoadirectionally‑structured, prismaticmesh.Thebasesofthegridcellsare triangleswhichcoverthe3‑Dsurfaceinanun‑
structuredmanner,whilethedirectionawayfrom thebodyisstructuredsoastoachieveanefficient computationforviscousflows.Themethodis appliedtogenerateatwo‑dimensionalstructuredO
‑gridarQundamulti‑elementairfoil ,andadir‑
ectionally‑structuredgridaboutawing‑fuselage configuration.
■AnAutomaticEulerSolverUsingUn‑
structuredUpwindMethod
(非 構 造 風 上 法 に よ る 自 動 オ イ ラ ー ソ ル バ ー) K.Nakahashi,K.Egami
Int.J.ofComputer&Fluids,Vol.19,No.3/
4,273‑286(1991)
Afully‑automaticgridgeneratorandanun・
structuredupwindmethodfortheEulerequations aredevelopedinordertoachieveautomationin flowcomputations.Theunstructuredgridisgener, atedusingtwotechniques=ageometry‑adaptive refinement;andasolution‑adaptiverefinement.
Theformerintroducesinformationabouttheflow‑
fieldgeometryintothegrid,andthelatterintro, ducesthefluidphysics.Acombinationofthesetwo techniquesenablesthegenerationQfagridina fully‑automaticmanner.Flowfieldsaresolvedby
anunstructuredupwindsolver,whichisanexten‑
sionoftheflux‑vectorsplittingmethodofVan Leerforuseonarbitrary‑shapedunstructured meshes.Thisrobustflowsolverwiththeautomatic gridgeneratorcanbeausefulCFDtoolforroutine engineer{ngwork.Themethodisappliedtoexter‑
nalandinternalflowproblemstodemonstrateits capability.
■UnstructuredUpwindApproachfor plexFlowComputatiorls
(複 雑 流 計 算 に お け る非 構 造 風 上 法) K.Nakahashi,K.Egami
LectureNotesinPhysics,No.371, ger‑Verlag,342‑343(1991)
Com一
Sprin一
iDeterminationofCycleConfigurationof GasTurbinesandAircraftEnginesbyan OptimizationProcedure
(最 適 化 手 法 に よ る ガ ス タ ー ビ ン と 航 空 エ ン ジ ン の サ イ ク ル 形 態 決 定)
Y.TsujikawaandM.Nagaoka Trans.ASME,J.Engin。forGasTurbines andPower,113,!00‑105(1991) Thispaperisdevotedtotheanalysesandopti・
mizationofsimpleandsophisticatedcycles,partic‑
ularlyforvariousgasturbineenginesandaero‑
engines(includingthescramjetengine)toachieve maximumperfo㎜ance.Theoptimizationofsuch criteriaasthermalefficiency,specificoutput,and totalperfo㎜anceforgasturbineengines,and overallefficiency,nondimensionalthrust,andspe・
cificimpulseforaero‑engineshasbeenperformed bytheoptimizationprocedurewiththemultiplier method.Comparisonofresultswithanalyticalsolu・
tionsestablishesthevalidityoftheoptimization procedure.
■PerformanceAnaiysisofScramjetEngine withQuasi‑one‑dimensionalFlowModel
(準 一 次 元 流 れ モ デ ル に よ る ス ク ラ ム ジ ェ ッ トエ ン ジ
ン の 性 能 解 析)
Y.Tsujikawa,Y.TsukamotoandS.Fujii Int.J.HydrogenEnergy,16,135‑142(1991) Inthepresentstudy,thequasi‑one‑dimensional flowmodelthroughthescram]'etenginewhich
consistsoftheinlet,combustorandnozzleis proposed.Theperformancesofthecomponentsare
analysedthermodynamically.Intheanalysis,there areseveredifficultiesinthecombustordueto problemssuchasturbulentdiffuslonofhydrogen fuelandmixingwithairatsupersonicspeedrange.
Forthecombustionreaction,theglobalhydrogen‑
aircombustionmodelwithtwo‑stepreaction schemesofhydrogenandoxygenareintroduced.
Toestimatethedemeritofweightincrease,the axiallengthofthecomponentsiscalculated,which presentedthebasicinformationabouttheoptimum configurationofthescramjetenglne.
■CBC太 陽 熱 発 電 シ ス テ ム の ふ く射 放 熱 に 関 す る
熱 力 学 的 考 察
辻 川 吉 春
日 本 機 械 学 会 論 文 集,B57,292‑296(1991) Amongthemanysolar‑poweredenergyconver.
sionsystems,arecuperatedclosedBraytoncycle (CBC)isthemostpromisingone.Severalinves・
tigatedaspectscanbementionedinthepresent study:afirstassessmentofareference25kWe system,thesimulationstudiesrelatedtovarious operatingconditionsandtheheatrejectionstudies relatedtothetransferoftheBraytoncyclewaste heattotheradiatingarea.Inaddition,particular attentionisbeingPaidtothesignificanceofthe reductionofsystelnmassrequiredforradiationof wasteheatfromaclosedBraytoncycletospace.
Conceptually,theradiatorareacanbereducedby rejectingtheheatfromaradiatorathighertemper・
atureIevelthanthatofthewasteheatofCBC, operatingakindofheatpurnpbyusingafraction ofgeneratedpower.Theoptimumradiatorareais obtained.Asaconsequence,forhightemperature ratiosoftheradiator‑towasteontheordergreater than5,thetotalradiatorareaisreducedremark‑
ablyandtherequiredmassadditionbytheinclu‑
sionoftheheatpurnpisestimated.
■EffectsofActiveCoolingonPerformances ofScramjetEngine
(ス ク ラ ム ジ ェ ッ トエ ン ジ ン に 及 ぼ す ア ク テ ィブ ク ー リン グ の 効 果)
Y.Tsujikawa,T.OnodaandS.Fujii Proc.Twenty‑SecondMidwestern MechanicsConference,336‑337(1991)
5ProposedPositionandHeadingMeasure‑
mentSystemUsingLaserBeamsonthe VehicleandCornerCubes
(移 動 体 上 に 搭 載 した レ ー ザ ビ ー ム と コー ナ キ ュ ー ブ を 用 い た 位 置 方 位 計 測 シ ス テ ム)
T.Tsumura,N.Komatsu
Proc.IEEE/RSJInternationalWorkshop onIntelligentRobotsandSystems,1436‑
1441(1991)
Thispaperpresentsthemethodtomeasurethe positionandheadingofthevehiclewhichmoveon thecircularcourse.Thecalculationisachievedby usingthetlmedatawhenthelasertranscelver installedonthevehicledetectstheopticalrefer・
encesdur{ngthevehiclemovesnearofthem.The
Iasertransceiverisconsistoflaserdiodeandphoto sensor.Weusethegeometryofthereferencepoint, vehicleandvehicle'strajectory.Theerrorscaused bytimemeasurementareestimatedbysimulation.
Experimentalresultforthisproposedmethod showsthatitisapplicableforpositionandheading measurementsystemofmobilerobot.
■CollisionFreeMotionControlofMultiple MovileRobotsonPathNetWork
(パ ス ネ ッ トワ ー ク 上 に お け る複 数 移 動 ロボ ッ トの 衝 突 回 避 制 御)
M.Saito,T.Tsumura
Proc.IEEE/RSJInternationalWorkshop onIntelligentRobotsandSystems,1068‑
1073(1991)
Thispaperaddressescollis{onavoidanceproblem amongmultiplemobilerobotstravelingovertwo dimensionalpathnetwork.Alocalapproachbased onnon‑linearprogrammingisgiventosolvethis probleln.Thebasicideaofthismethodistofind thedesiredvelocityvectorforrobotgivenasthe optimalsolutionofobjectivefunctiQnunderveIoc‑
ityvectorconstraint.Collisionfreenavigationof robotiscarriedoutbyfollowingthedesiredveloc‑
ityvector.Thismethodisimplementedusingexper・
imentalrobotandsimulatedone.Thefeasibility andeffectivenessofthisrnethodisdiscussed throughtheresults.
controlofrna{nstructureanddirectvelocitvfeed‑
backcontrolofsubstructureprovidesaneffect{ve androbustcontroller.Feasibilityoftheproposed designmethodisdemonstratedwithanumer{cal simulationforabeamexperiment.
,FailureDetectionandidentificationfor StructuralCQntrolSystems
(構 造 物 制 御 系 の 故 障 診 断 と 同 定) H.Okubo
Proc.1stIFAC/IMACSSymposiumon FaultDetection,SupervisionandSafetyof TechnicalProcesses,263‑267(1991)
Thispaperpresentsamethodforthedetection, ident{fication,andrecoveryofcomponentfailures ofactivestructuralcontrolsystems.Inthis approach,thetimeanddirectionofafailureareidentifiedbyusinginno、 ・ationprocessoftheKaし manfilterandgeneralizedlikelihoodratiomethod.
Then,thernethodsequentialIyestimatestheIeveI offailurebywhichthefault‑freestateestilnates arecorrectedforrecovery.Thedetectionalgorithm issimplifiedfromtheviewpointofcomputational efficiencyanddesignedforalimited‑sizememory.
Thisapproachisusefulforthefaultdetectionof structuralcontrolsystemsinthepresenceofhigh‑
frequencyvibrationmodeswhicharetruncated fromthecontro11erdesign.Utilityoftheproposed methodisillustratedwithanumericalexampleofa vibrationdampingcontrolforbeam.
■Frequency‑ShapedControlofFlexible StructuresbyUsingSubstructureDynamics
(部 分 構 造 の ダ イ ナ ミッ ク ス を 用 い た 柔 軟 構 造 物
の 周 波 数 整 形 制 御)
H.OkuboandG.Schmidt Proc.1stIFACSymposiumonDesign MethodofControlSystems,234‑239(1991) Thispaperpresentsamethodofdesigninga stableandrobustreduced‑ordercontrollerfor
activevibrationdampingofflexiblestructures.The proposedmethodlocatescontrolactuatorsona simplesubstructureconnectedflexiblywithmain structure.Thebasicideaofthedesignconceptisto usethedynamicsofsubstructureforfrequency‑
shapingthefeedbackforceapplyingtomainstruc‑
tureandtherebysupPressingspilloverinstability duetohigh‑frequencyresidualmodes.Bydesigning thesubstructuredynamicsappropriately,robust‑
nessofreduced‑ordercontrollerisgreatlyim‑
provedoutsidethepassband.Thepresentmethod alsoemploysadirectrarefeedbackofthemea‑
suredresponseofthesubstructurebothfordamp‑
ingthevibrationofsubstructureandforstabilizing residualmodesintherangeoftransientfre‑
quencies.Thuscombinationofthemodalfeedback