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A Modal Analysis for a Hung Euler-Bernoulli Beam with a Lumped Mass
Misawa Kasahara,Akira Kojima,Shintaro Ishijima 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
In this paper, a modal analysis is applied for a hung Euler-Bernoulli beam with a lumped mass. We first derive the equations of motion using the Hamillton's principle. Then regarding the tension of beam as constant, we characterize the eigenfrequencies and the feature of eigenfunctions. The approximation employed here is corresponding that the lumped mass is sufficiently large than that of beam. Finally we compare the eigenfrequencies derived here with those obtained based on the Southwell's method.
Vehicle Braking Control Using Sliding Mode Control
Misawa Kasahara,Yuki Kanai,Yasuchika Mori 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In recent years, anti-lock brake system and brake-by-wire are proposed in the vehicle control using a brake, and the braking power is expected to be improved more than ever. The researches such as an application to the ABS of Siliding mode control which considered a actuator dynamics [1] and a hybrid control of the brake using model reference adaptive control [2] are done so far. However, in the former case, speed following that be comes a target exists physically impossible situation by saturation of tire frictional force because only speed following is one. In the latter, the model error is caused because the simulation model and the controller design model are different. There fore, there is a problem that an accurate follow can not be done. In this paper, the braking control is performed using the sliding mode control [3] which has high robustness for disturbance that fulfils matching conditions. In so doing, it aims attheachievement of optimal braking control to switch wheel speed following to slip rati o following.