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日本機械学会関東支部総会講演会講演論文集の検索結果

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2機のマルチコプターによるすれ違い飛行に関する研究 CiNiiでみる

著者名:
川平 星輝  熱海 武憲 

抄録:

In this paper, we study about flow-induced oscillations caused by passing two multicopters in a vertical direction. We employ motion capture camera to identify the effects of the flow-induced oscillations. Experimental results show that the effect of the flow-induced oscillations depend on not only a distance between two multicopters but also relative angle of them.


出版年月日:
2019 , 
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2019 , 
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超小型モビリティ用アクティブシートサスペンション:(振動低減に関する基礎検討) CiNiiでみる

著者名:
池田 圭吾  三野輪 良祐  遠藤 文人  加藤 英晃  成田 正敬 

抄録:

In automobile industry, ultra-compact mobility is proposed to streamline transportation. In recent years, ultra-compact mobility utilized for car sharing service in urban area and sightseeing spot. However, there is a possibility that ride comfort is exacerbated because ultra-compact mobility is simple equipment for miniaturization. To improve ride comfort against vertical vibration, we proposed an active seat suspension mounted on the seat section of the vehicle. The active seat suspension is possible to control vibration actively by means of using voice coil motor. On the contrary, the control considering velocity, acceleration and jerk of vertical vibration is required to make comfortable car for occupant. Therefore, it is necessary to grasp the thrust characteristics when the motor is greatly displaced. In addition, it is required to construct a control system that is robust against changes in the thrust constant due to displacement. Therefore, in this paper, the thrust characteristics of the voice coil motor which used in the active seat suspension will be clarified from the analysis. Moreover, we investigated control performance of voice coil motor based on simulation and experiment.


出版年月日:
2019 , 
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曲線通過時における鉄道車両の通り変位伝達特性の解析 CiNiiでみる

著者名:
藤原 和正  道辻 洋平 

抄録:

In the design of railway vehicles, it is important to clarify vibration transfer characteristics while considering contact condition between wheels and rails with irregularities. Especially, when the vehicle runs curves, the vibration transfer characteristics from the wheel to the car body becomes more complicated than running on a straight track. It is necessary to optimally design various parameters of a railway vehicle in terms of running safety and comfortability against track irregularity. However, the vibration transfer characteristics of railway vehicle running on both straight and curved track is not sufficiently investigated. In this study, in order to investigate the fundamental vibration transfer characteristics from wheel to car body when passing through some curves is performed using SIMPACK which is a general-purpose multibody dynamics analysis tool of railway vehicle. As an example of track irregularity, alignment irregularity with various wave length is considered and how it affects the value of derailment coefficient and vibration transmissibility are investigated. As an example of parameter study, the effect of various coefficient of friction between wheel and rail is also investigated.


出版年月日:
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超小型モビリティ用アクティブシートサスペンション:(振動暴露時の生体反応に関する基礎的検討) CiNiiでみる

著者名:
三野輪 良祐  池田 圭吾  遠藤 文人  加藤 英晃  成田 正敬 

抄録:

An ultra compact mobility is focused in the view of improvement of transfer for near-distance travel for one to two passengers. This mobility is compact and easy to turnaround, so it can be able to enter narrow roads and bad roads that are not paved. In such a road surface environment, it is susceptible to the influence of vibration caused by steps and unevenness of the road surface, and deterioration of the ride comfort of the vehicle is expected even at low speed running. The authors have analyzed organoleptic evaluation and biological information to improve the ride comfort based on it proposed a control method. In this paper, the stress state of the occupant received by the vertical vibration is clarified from the cerebral blood flow used as an indicator of the activity of the central nervous system. However, each subject varies in biological information. Therefore, multiple regression analysis was performed and the relationship with subjective evaluation by questionnaire was confirmed using biological information of the subject.


出版年月日:
2019 , 
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超小型モビリティの乗員振動制御用ボイスコイルモータ:(コイルの影響に関する基礎解析) CiNiiでみる

著者名:
遠藤 文人  池田 圭吾  三野輪 良祐  加藤 英晃  成田 正敬 

抄録:

The active seat suspension is proposed to reduce vibration for passenger in ultra-compact mobility. The active seat suspension is possible to control vibration actively by means of using voice coil motor. The voice coil motor has high thrust performance and simple structure. We had examined the vibration reduction by active seat suspension when entering rough roads and developed a practical control method. Meanwhile, motor characteristics, e.g. motor stroke, thrust variability and voltage capacity, are important factors for reduction of vibration. Especially, the ride comfort of the mobility is affected when fall from the bump. Coil parameters of voice coil motor affect important factors for reduction of vibration. It is necessarily to investigate performance of voice coil motor of each coil parameter. Therefore, in this paper, efficiency of vibration control was investigated by simulation considering voltage capacity and nonlinearity of thrust.


出版年月日:
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2019 , 
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有限要素法を用いた車輪とレールの接触解析の基礎的研究 CiNiiでみる

著者名:
田中 将太  高橋 芳弘 

抄録:

A wheel always contacts with a rail each other, and then wear occurs. Progress of wear leads to noise problems and deterioration of ride comfort. Various studies on the wear of the wheels have been conducted. The Finite Element Methods (FEM) is one of the methods of analysis. FEM has an advantage that stress analysis is possible; it is used to analyze the contact between wheels and rails. However, simulation of the wheel model having wear has not been considered. The examination of wheels with the progressing wear may lead to reduce rail corrugation and extension the maintenance interval. In this study, the relationship between wear of wheels and behavior of wheels is examined through experiments and simulations. From the experimental results and calculation results, it was found the vertical acceleration increased as wheel wear progressed.


出版年月日:
2019 , 
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超小型車両の車内音響環境に関する研究:(1/fゆらぎに関する基礎的検討) CiNiiでみる

著者名:
宮尾 里奈  鈴木 涼介  加藤 太朗  加藤 英晃  成田 正敬 

抄録:

An engine sound is main part of noise in conventional vehicle. However, in ultra-compact electric vehicle which does not include engine, an interior noise caused by road and wind noise have a large impact on user comfort in the interior space. In previous study, we propose a system whereby giant magnetostrictive actuator is installed on the roof of an ultra-compact electric vehicle to actively cut interface vibration noise, i.e., road noise, transmitted to the interior of the vehicle and we aim to reduce the noise level in an interior of a vehicle using this proposed active noise control system. Furthermore, we studied fundamental consideration of masking. In this study, we focused on 1/f fluctuation for masking music and evaluate the vehicle interior comfort by using the brain waves of the crew, in the case of operating driving simulator.


出版年月日:
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四輪独立モータ駆動車両のファジー制御によるトルク配分の検討 CiNiiでみる

著者名:
趙 思奇  福島 E.文彦 

抄録:

In recent years, electric vehicles are becoming popular. Among them, electric vehicles with independent in-wheel motors can improve driving performance and simplify the powertrain system, and the overall energy efficiency through independent torque control of the motors. In this article, we focused in a method to decrease the overall energy consumption and increase the stability of the vehicle at high speed concerning motion, by proposing a new torque distribution strategy using fuzzy control. The simulation results show that driving efficiency and vehicle stability improves to some extent.


出版年月日:
2019 , 
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複合式ワイヤ干渉駆動を導入した1脚機構モデルによる歩行模擬実験 CiNiiでみる

著者名:
吉田 増大  重泉 伶樹  平石 健悟  望月 恒星  程島 竜一  琴坂 信哉 

抄録:

This paper reports the experiment using one leg model of a new hexapod walking robot, ASURA II, inspired by the physical features of a harvestman's behavior. ASURA II has a special mobile form with one compact body and much longer legs than conventional hexapod walking robots. The leg model is managed by multiple coupled drive systems using wire-pulley mechanism, which powerfully and widely drive the leg joints. The leg length and leg weight is 1.268 m and 10.4 kg, respectively. We developed the robot control system and the experimental method to simulating walking motion by using single leg. We experimented for simulated walking motion by using single leg mechanism model, and the system could control posture of the leg. Next, we wii experiment to check the leg has power to walking by oneself and show possibility that ASURA II will be able to walking by six legs form the results.


出版年月日:
2019 , 
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自動駐車のための駆動力制御の有効性についての検討 CiNiiでみる

著者名:
黒須 夏海  中代 重幸 

抄録:

Automatic parking control, which is one of the automatic driving techniques, autonomously parks via human hands, reducing the burden on the driver by parking. In this research, focusing on the driving force of a vehicle in a car, in addition to steering control, aiming at improvement of cornering performance by controlling the driving force of wheels, comparison is made between simulation and model vehicles simulation results , The steering control and the driving force control performed using the PI control are used. In addition, model vehicles were manufactured with four wheels independent and driving motors. As a comparison condition, we evaluated the effectiveness of the actual machine by comparing the rate of decrease of the turning radius when turning is performed with constant steering angle and the driving force is applied. From the results, we found that it is possible to reduce the turning radius of the vehicle by performing control using both steering and driving force.


出版年月日:
2019 , 
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モデル予測制御による高速鉄道車両の振動低減 CiNiiでみる

著者名:
遠山 諒  中代 重幸 

抄録:

In this research, vibration reduction of high-speed railway cars is performed by controlling active suspensions. There are several vibrations in the railway, but in this study vertical vibration is the target. Although active suspensions are damped by actuators, the maximum value of the force generated by actuators in current railway vehicles is only about 5kN. Therefore, in this research, the upper limit and the lower limit of the force generated by the actuator are determined, and control is carried out in that to aim for improvement of ride comfort. There is a model predictive control as a control in constraints such as determining an upper limit and a lower limit of the force generated by the actuator. Model predictive control is a feedback control method based on idea of optimum control. The model predictive controller consists of optimization and prediction model, and optimization is to minimize the evaluation function, and the prediction model predicts the future behavior of the controlled object. Solving these optimization problems at high speed and determining the control input at each time is a control method. As a result of simulation by model predictive control, the same result was obtained at the comfort level when compared with the optimum control. However, when comparing with the vehicle body vibration jerk, the model predictive control resulted in a good result. From this, it was confirmed that model predictive control has superiority by adding evaluation by jerk to evaluate ride comfort by riding comfort level.


出版年月日:
2019 , 
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3Dダイナミックシミュレータを用いた実機モデルの姿勢安定化制御 CiNiiでみる

著者名:
金子 昌太郎  奥山 淳 

抄録:

The reaction wheel is a mechanical device for stabilizing the posture of the controlled object by the reaction torque generated when the flywheel is rotated. When applying the reaction wheel to the controlled object, it is necessary to determine the appropriate size of the flywheel, the position to be mounted, the required torque, and so on. However, research on the size and installation position of the flywheel has not been conducted. Therefore, in this study, we construct a model of reaction wheel system on Gazebo which is a 3D dynamic simulator equipped with multiple physical engines. And, we change the various conditions of the flywheel using the model built on Gazebo and consider the influence on posture stability. In addition, by using a robot operating system (ROS) having a coordination function with Gazebo, we control the reaction wheel system on Gazebo.


出版年月日:
2019 , 
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CFRP積層構造の成形時収縮による形状変化について CiNiiでみる

著者名:
鈴木 浩治 

抄録:

In this study, as a preliminary case study on shape formations of fiber reinforced plastic (FRP) laminate structure due to orthotropic shrinkage at curing, thermal strain deformation analysis was applied to carbon fiber reinforced plastic (CFRP) laminates with various combinations of stacking sequence by using general purpose finite element method (FEM) analysis code, ANSYS 19.1. From the results in the cases of various un-symmetric cross-ply laminates of CFRP, their relatively simple shape formations could be shown, which are strongly dependent on their stacking sequences.


出版年月日:
2019 , 
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揺動機構付3D-LIDARとRTK-GPSを用いた測量システムの研究 CiNiiでみる

著者名:
滝田 好宏  新行内 優 

抄録:

Previous paper developed a swing mechanism for multi-layer type 3D-LIDAR, in order to increase measurement points between the layers. Obtained data are converted into 3D space and evaluated the measurement accuracy, then the accuracy of points are maintained the performance of the LIDAR itself. To obtain 3D surveying data using proposed measurement system, it is necessary to perform stationary measurement at appropriate intervals. This paper tries to find a method to combine these data with high precision using RTK-GPS. It is a problem that there is not enough accuracy for combining data even if we use RTK-GPS which has accuracy of a few centimeters. In this paper two RTK-GPSs are used to get the orientation and the position which are set as the initial value of the scan matching method. Obtained 3D data are transformed to 3D environment map and tested using an autonomous mobile robot SmartDump 9.


出版年月日:
2019 , 
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Bouc-Wenモデルを用いた空気圧ゴム人工筋のモデル化 CiNiiでみる

著者名:
矢部 千紘  奥山 淳 

抄録:

A Pneumatic Artificial Rubber Muscle (PARM) shrinks by inhaling compressed air. PARM has light and high output characteristics like human muscles. Therefore an application study to the robot fields such as assistance robot and arm robot has been conducted. However, PARM has hysteresis characteristics with different amounts of contraction during periodic operation and it is difficult to control accuracy. From this, it is a problem to improve the accuracy of the control system in consideration of the hysteresis characteristic of PARM. The purpose of this research is to compensate the hysteresis characteristics by applying the disturbance observer to the control system. In the disturbance observer, it is necessary to model the controlled object, and the control performance is influenced by the accuracy of this modeling. In this research, we propose to use the Bouc-Wen model to express the hysteresis characteristics of PARM. The effectiveness of the proposed method is verified by experiment.


出版年月日:
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ニューラルネットワークを用いた運動制御における順運動学モデルの学習 CiNiiでみる

著者名:
岩﨑 弘芳  奥山 淳 

抄録:

Many of drone and robot have complicated dynamic characteristics by its various structures. In a controller design, a method that utilizes a mathematical model of the controlled object is generally used. In the above case, however, it is very difficult to derive a mathematical model because of its complex dynamic characteristics, and it is necessary to derive an approximate model. Therefore, in controlled objects with complex dynamic characteristics, it is difficult to obtain ideal control performance because the controller is designed using an approximate model. To solve this problem, many control methods using a neural network (NN) have been proposed. NN has learning ability and mapping ability, and NN can map arbitrary nonlinear functions when there are more than three layers and sufficient neurons. Based on the above characteristics, it is possible to construct a control system based on NN. In the control system based on NN, the construction of a forward and inverse model is a technical point. In the forward model, NN is constructed to predict the output signal from the input signal. On the other hand, in the inverse model, NN is constructed to predict the input signal from the output signal. By using the forward and inverse model, it is possible to construct a controller from the input / output information without requiring a mathematical model of the controlled object. In this research, we propose a control system design method using forward and inverse model for an inverted pendulum robot. The effectiveness of the proposed method is verified by experiments.


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機械学習を活用した設計探査技術の開発 CiNiiでみる

著者名:
片岡 一朗  長谷部 達也  張 子賢  野中 紀彦 

抄録:

In design of make-to-order products, fast estimate of design parameters corresponding to customer requests is required. To realize fast estimate design, we are constructing analysis led customer co-design system, which can evaluate the product performance and specification in short time, utilizing a machine learning technology. As a vehicle product of customer co-design system, we try to apply for estimate design of centrifugal compressor. Engineer considers estimate design of product specification corresponding to customer demands. We developed a specification predicting technology to provide a design specification faster time for engineers.


出版年月日:
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衝突エネルギー吸収構造とその加工法の開発 CiNiiでみる

著者名:
景 陽  侯 峻夫  趙 希禄 

抄録:

Side members of a car have a great influence on the collision safety of the car body as a main energy absorbing part when the car body collides. In this research, we propose a turning twist type origami structure so as to prevent crash energy to be absorbed by the side member as much as possible when receiving a crash load on the front of the automobile, We propose and investigate rotational molding method.


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制振CFRP積層はりのFEM解析と実験モーダル解析を活用した材料特性の同定 CiNiiでみる

著者名:
本山 広之  鈴木 浩治 

抄録:

In this study, impulse-hammering vibration measurements of carbon fiber reinforced plastic (CFRP) composite laminates with or without flexible sheets (PIEZON-PP) inserted at central interlaminars were carried out and then finite element method (FEM) numerical analysis by using general purpose code, ANSYS, was applied to identify elastic properties of CFRP and flexible sheet (PIEZON). For the present material properties identification for CFRP layers and flexible sheets, the first order Newton's method was used to seek optimum elastic properties which minimized errors between the impulse-hammering measurement results and the FEM numerical results in terms of natural frequencies of the five lowest bending modes of three different unidirectional carbon fiber orientations, that is, unidirectional (0°) CFRP, transverse (90°) CFRP and 25° CFRP with and without flexible sheet. Good elastic properties identifications could be conducted and these properties will be able to be used for any further optimization problems such as topology optimization for CFRP structures with flexible damping sheets


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ベアリング形状の変化が地震応答低減効果に与える影響 CiNiiでみる

著者名:
白田 魁  栗田 勝実  青木 繁  岩田 悠希  金澤 光雄 

抄録:

A small base isolation system using friction bearings composed of two plates having spherical concave and a marble plate was developed to prevent overturning small equipment set up inside building during a big earthquake. In this study,in order to know effects of friction bearing type on response characteristics of small seismic isolation system, excitation experiment have been performed using different type bearings. It was evaluated by maximum acceleration amplitude and root mean square. As a result, the contact surface shape of the friction bearing have been affected on the earthquake response reduction. The rivet type bearing that is point contact the plates having spherical concave is effective to reduce the seismic response.


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