WO2001092755A1 - Controleur d'oscillations et dispositif de levitation magnetique equipe de ce controleur - Google Patents

Controleur d'oscillations et dispositif de levitation magnetique equipe de ce controleur Download PDF

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Publication number
WO2001092755A1
WO2001092755A1 PCT/JP2001/004550 JP0104550W WO0192755A1 WO 2001092755 A1 WO2001092755 A1 WO 2001092755A1 JP 0104550 W JP0104550 W JP 0104550W WO 0192755 A1 WO0192755 A1 WO 0192755A1
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WO
WIPO (PCT)
Prior art keywords
levitation
swing
control device
rotating
magnetic levitation
Prior art date
Application number
PCT/JP2001/004550
Other languages
English (en)
Japanese (ja)
Inventor
Yoshihiro Suda
Chih-Chung Chuang
Original Assignee
Yoshihiro Suda
Chuang Chih Chung
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yoshihiro Suda, Chuang Chih Chung filed Critical Yoshihiro Suda
Priority to AU2001260655A priority Critical patent/AU2001260655A1/en
Publication of WO2001092755A1 publication Critical patent/WO2001092755A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/08—Sliding or levitation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/04—Magnetic suspension or levitation for vehicles
    • B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems

Definitions

  • the present invention relates to a device for controlling the movement of an object, preferably a suction type magnetic levitation system, an induction type magnetic levitation system, a suspended object such as a lift or a cable, a floating object such as a ship, or an object.
  • an object preferably a suction type magnetic levitation system, an induction type magnetic levitation system, a suspended object such as a lift or a cable, a floating object such as a ship, or an object.
  • the present invention can be applied to a game machine or the like that utilizes the swing or tilt of the game. Background art
  • the applicant has realized that the orbital cross section is circular, so that guidance to the curve is realized only by levitation control.
  • the tangential attenuation of the cross section of the orbit is very small, so if there is a disturbance in that direction, the levitation body will continue to shake.
  • this oscillation control is necessary.
  • Conventional reduction control devices include a CMG (Control Moment Gyro) reduction device that uses the gyro effect of a high-speed rotating body, and a movable mass reduction device that uses a mass that moves left and right (Fig. 3 (a)). , See Fig. 4 (a)). You.
  • CMG Control Moment Gyro
  • a movable mass reduction device that uses a mass that moves left and right
  • the basic principle of the CMG anti-vibration device is that a high-speed rotating body (gyro) is installed on the controlled object, and the gyro effect of the high-speed rotating body is used to maintain the posture of the controlled object to reduce the oscillation phenomenon. .
  • the gyro effect is strong, a high reduction effect can be obtained, but the tendency to maintain the posture becomes stronger, which hinders turning and posture adjustment functions.
  • the levitation body In the magnetic levitation system described above, the levitation body must be tilted to a position that balances the centrifugal force when traveling on a curve, but the gyro mechanism hinders such tilting of the vehicle body . Therefore, the method using the gyro moment is inconsistent with the attitude control at the time of passing a curve, and the CMG reduction device cannot be applied to the suction type magnetic levitation system having the automatic tilt adjustment function described above.
  • the moving mass type reduction device acts as a dynamic vibration absorber by adding a moving mass to a controlled object.
  • the effect of the attenuator depends on the installation location, and the installation position where a high attenuation effect can be obtained is limited.
  • the movable mass reducing device has a limitation on the moving stroke of the movable mass, and it is difficult to apply the movable mass reducing device to a magnetic levitation system that requires a lighter weight as the movable mass becomes larger.
  • An object of the present invention is to provide means capable of favorably controlling operation while having a simple mechanical structure and a simple control system design.
  • Another object of the present invention is to provide a swing control device that can be advantageously applied to a magnetic levitation system. Disclosure of the invention
  • the technical means adopted by the present invention is a device for controlling the swing of an object, wherein the object is provided with a rotating body in a state capable of transmitting a reaction torque of a rotating body to the object.
  • controlling the rotation of the object It is characterized in that it is configured to control the movement in the direction perpendicular to the rotation axis. That is, by providing an object with a rotating body that rotates about an axis perpendicular to the swing direction of the object, the rotation of the rotating body is controlled, and the inertia moment of the object is changed. It is configured to control the movement of the object.
  • the object includes a magnetic levitation body supported in a non-contact manner by a magnetic force, a cable or a suspended body (a cable, a lift, a ropeway) suspended by a member that is suspended by a hanging part attached to the cable or the object. , Cranes, etc.), or objects floating by the force of liquid or gaseous fluids, such as floating objects (such as ships) floating by the buoyancy of water, and other objects floating by aerodynamics.
  • the present invention is embodied as a magnetic levitation device.
  • FIG. 2 shows a case where the present invention is applied to a magnetic levitation device.
  • the vehicle shown as a levitation body is equipped with four composite magnets (consisting of permanent magnets and electromagnets) and a linear motor in the lower part, and the cylindrical magnet's orbit is moved by the attractive force of the composite magnets. It is configured to travel.
  • the attitude of the levitation body can be automatically adjusted according to the centrifugal force when passing through the curve.
  • the vehicle is provided with a rotor or rotating body with one rotation degree of freedom. In the tangential direction of the circular orbit, the damping of the levitation body is extremely small, and once there is a disturbance, the phenomenon of sustained vibration occurs.
  • an object of the present invention is not to maintain the attitude of the levitation body, but to add attenuation to a change in attitude. To the speed of change It has a function to follow relatively slow posture changes and to attenuate swings like a pendulum in order to control so that a large damping occurs in response.
  • Fig. 2 (a) shows a vehicle with one rotating body provided at the center in the left-right direction of the vehicle.
  • the rotating body may be stationary at all times, but it is desirable to always rotate the rotating body at a low speed in order to compensate for the friction inside the rotating body.
  • the rotating direction does not matter, but by making the steady-state current sufficiently smaller than the control current, the rotating body can be selectively rotated in both forward and reverse directions. Need to be able to rotate.
  • Figure 2 (b) shows a vehicle with two rotating bodies provided so as to be symmetrical in the left-right direction.
  • the two rotating bodies have the same mass, and the two rotating bodies have different stationary rotation directions.
  • the gyro effect caused by rotation is offset.
  • the rotating body is a rotor of a motor mounted on the object, and the reaction torque of the rotor is transmitted to the object via the stator of the motor.
  • the present invention can also be applied to a branch of a levitation traveling body in a magnetic levitation device.
  • the rotation of the rotating body By controlling the rotation of the rotating body as a reverse action of the vibration isolating action, the floating body can be driven around the orbit (the left-right direction of the floating body). Utilizing this reverse action, when a trajectory branches from one trajectory to two trajectories, the rotating body can be rotated in the selected direction so that the levitation body can pass through the branch. Also, by utilizing the opposite effect of this vibration isolation Thus, it is also possible to provide a gaming device utilizing magnetic levitation (although the gaming device using the present invention is not limited to a device utilizing magnetic levitation).
  • FIG. 3 (b) is a view showing another application example of the present invention
  • FIG. 4 (b) is a view showing the present invention in a lift
  • FIG. 4 () is a view showing the present invention in a ship. It shows the one applied to.
  • a rotating body is provided at the center in the left-right direction of the lift body.
  • the rotating body is rotatable about a shaft extending vertically in the left-right direction of the lift body (the direction in which the lift moves). It is configured to control the swing of the lift body by controlling the rotation of the rotating body.
  • one rotator is provided, but two rotators may be provided symmetrically left and right, and these may be rotated in different directions.
  • the rotating body is provided at the center portion, but the rotating body does not necessarily need to be provided at the center.
  • a rotating body is provided at a central portion in the left-right direction of the boat body.
  • the rotating body is rotatable about a shaft that extends vertically in the horizontal direction of the ship (the direction of movement of the ship). It is configured to control the motion of the ship by controlling the rotation of the rotating body.
  • FIG. 1 is a diagram showing an example of a magnetic levitation system using a circular pipe trajectory.
  • A is a schematic sectional view
  • (b) is a schematic plan view showing a curved trajectory.
  • FIG. 2 is a view showing a levitation body having a rotating body
  • ( a ) is a magnetic levitation vehicle having a protection structure in which the vehicle is installed on a track and holding a rail
  • (b) is a magnetic levitation vehicle.
  • Figure 3 shows a magnetic levitation vehicle with a protective structure that holds a rail and is installed underneath.
  • FIG. 4B shows a swing control using a rotating body
  • FIG. 4 shows a swing control device relating to a ship
  • FIG. 4A shows a conventional swing control using a movable mass.
  • FIG. 5B is a schematic perspective view of the magnetic levitation system according to the embodiment
  • FIG. 6A is a schematic perspective view of the system shown in FIG.
  • Fig. 7 is a block diagram showing the feedback control
  • Fig. 8 is a control circuit diagram for the experiment
  • Fig. 9 is the steady force disturbance in the y-direction.
  • Fig. 10 shows the response to the steady force disturbance in the y-direction (with the ⁇ ⁇ -motion control mechanism, no compensation for frictional force)
  • Fig. 11 shows the response to the steady force disturbance in the y-direction.
  • Fig. 10 shows the response to the steady force disturbance in the y-direction (with the ⁇ ⁇ -motion control mechanism, no compensation for frictional force)
  • Fig. 11 shows the response to the steady force disturbance in the y-direction.
  • Fig. 10 shows the response to the steady force disturbance in the y-
  • FIG. 12 is a diagram showing a response to a steady force disturbance in the y direction (with a swing control mechanism and frictional force compensation), Fig. 12 is a diagram showing a response to a steady force disturbance in the z direction, and Figs.
  • FIG. 4 is a diagram showing a response to a steady force disturbance in a rolling direction (with a swing control mechanism, which compensates for frictional force);
  • Figure 14 shows the response to a steady force disturbance in the pitch direction.
  • Figure 15 shows the response to a steady force disturbance in one direction.
  • Figure 16 shows the attitude angle in the curve.
  • the suction type magnetic levitation system has a mass levitation body equipped with four composite magnets running on a cylindrical orbit and a gap sensor.
  • the four gap sensors detect the relative position between the levitation body and the orbit, and stabilize the levitation system by feedback control. Since the orbit of this system is circular, if the levitating body is stably levitated, the levitating body can return to the equilibrium point naturally like a pendulum by the action of gravity.
  • a composite magnet combining permanent magnets and electromagnets is used, and the weight of the floating body is supported using the attractive force of the permanent magnets.
  • a reduction device has a rotating mass (rotating body) provided on a floating body.
  • the rotor of the motor is used as the rotating mass, and the stator of the motor is part of the floating body.
  • the rotating body may be freely rotatable and connected so that the reaction torque of the driving torque of the rotating body is transmitted to the floating body, and is not limited to the rotor of the motor. .
  • installing the rotating body in the levitation system and controlling the rotating motion of the rotating body causes the levitation body to oscillate. Gives attenuation.
  • the equation of motion of a system in which a motor is added to the levitation body to be controlled is as follows.
  • the rotary reduction device Since the rotating body can rotate many times, the rotary reduction device according to the present invention has no limitation on the stroke. Therefore, there is the advantage that the reduction effect is high and the size and weight can be reduced by adjusting the moment of inertia and the angular velocity of the rotating body.
  • a control law for stabilizing the levitating body is determined.
  • the state vector of equation (7) is used as feed pack information, and the current is integrated once so that the current of each electromagnet always converges to zero.
  • the evaluation function is shown below.
  • the state feedback gain Kb and zero-power feedback gain ⁇ ⁇ ⁇ ⁇ are determined by the optimal control method.
  • the oscillating vibration of the levitation body is considered to be the rotating angular motion of the levitation body with respect to the center of the rail cross section.
  • the angular motion gives a rotary damping effect to the floating body.
  • Angular velocity of floating body By controlling the current driver so that damping torque proportional to the degree is output to the levitating body, the problem of sustained dynamic vibration can be solved. Therefore, as shown in Fig. 7, the stabilized levitation system is the control target, and the absolute attitude angular velocity of the levitation body is bued-packed so as to generate the oscillation damping of the levitation body.
  • the control law is as follows. i x dt
  • Stabilizing Control Ruie round by Optimal Control Method Table 1 shows the poles of the magnetic levitation system where the levitation system stabilization control was performed using the control law in Table 1 for the experiment.
  • the poles pi and p2 in Table 2 are the vibration modes caused by the circular rail.
  • the frequency of the vibration mode is determined by the distance from the center of gravity of the model levitation vehicle to the center of the cross section of the circular rail. From the real parts of the poles P 1 and P 2, it can be seen that the damping in the swinging direction is extremely small, and that if the disturbance is introduced, the vibration will be long lasting. Poles with Stabilizing Control
  • Table 3 shows the values of the feedback gain K p 1 and the corresponding system vibration mode poles. Poles with different Feedback Gain Kpl
  • the levitation body is vibrated, and the system becomes unstable. Comparing the poles shown in Table 3, the right side has a smaller real part of the poles, and o
  • Figure 8 shows the configuration of the control circuit. From the information on the four gaps, the state quantities of the levitation body above and below, orbit, rolling, pitch and yaw direction are obtained. The differential value of the displacement is calculated by differentiating the displacement by a computer. The gap information is measured using a gap sensor, and the inclination angle of the levitation body is measured using a jar mouth sensor.
  • Fig. 9 shows the results.
  • the levitation body like a pendulum, converges to an equilibrium point of 0.06 rad while the attitude angle ⁇ P 1 vibrates according to the lateral force.
  • the cause of the motion persistence is that the tangential attenuation of the trajectory to the levitating body is very small.
  • the current of the composite magnet oscillates with the attitude angle ⁇ p 1 in order to stabilize the system.
  • FIG 10 shows the results of the experiment and simulation.
  • the motion continuity phenomenon when there is no reduction control for attitude angle 1 is eliminated by adding the reduction control to the system. It can be seen that the attitude angle ⁇ p 1 converges immediately You. However, from time 1 sec., The control current i 1 of the composite magnet and the motor control current i 5 vibrate slightly with the micro vibration of the attitude angle ⁇ p 1. This indicates a dead zone caused by the frictional force of the motor (the rotor of the motor is restrained by the frictional force).
  • a steady current (0.02 A) was added to the motor control current, and the frictional force was compensated for by constantly rotating the motor rotor.
  • the experiment was conducted by applying a lateral force to the levitating body, and the results are shown in Fig. 11.
  • the levitation body like a pendulum, converges on its posture angle ⁇ p 1 to an equilibrium point of 0.06 rad without micro-vibration according to the lateral force. Comparing with Fig. 10, it was found that by compensating the frictional force, the dead zone was eliminated and the effect of the anti-rolling control could be improved.
  • a small steady-state current for friction compensation is superimposed on the motor control current, but the magnitude of the steady-state current is such that the friction torque can be overcome, and the motor is rotated at low speed.
  • the steady-state current is sufficiently smaller than the control current, and the rotation of the motor can be accelerated in both the positive and negative directions. Therefore, the direction of low-speed rotation due to the steady-state current can be determined independently of the direction of disturbance. . And since this rotation is very slow, there is no adverse effect on magnetic levitation from the viewpoint of energy consumption. Experiments have also confirmed that there is no obstacle to the stable levitation of the levitation model vehicle and its ability to turn on curves.
  • the levitation body adjusts the attitude angle according to the lateral force, and always cancels the lateral force using gravity and the attractive force of the permanent magnet.
  • the motor current is
  • FIG. 12 shows the results.
  • the vertical displacement of the levitation body converges to 0.18 mm without vibration.
  • the current of the composite magnet converges to zero as the vertical displacement converges to 0.18 mm.
  • the levitation body adjusts the distance to the orbit so as to generate the attraction of the permanent magnet according to the vertical force on the orbit, and always uses the attraction of the permanent magnet to cancel the load.
  • the control current of the composite magnet flows simply to maintain system stability.
  • the levitation body adjusts the distance to the orbit (_ 0.18 mm ) according to the vertical force on the orbit, and cancels the load using the attractive force of the permanent magnet. For 6.4 mNm torque in the rolling direction, the floating body rolls in the negative direction (0.01 rad) to cancel the torque in the rolling direction applied by the force of the permanent magnet.
  • the motor current flows simply to suppress vibration, and converges to a steady-state current (0.02 A) when the vibration stops.
  • the current of the composite magnet converges to zero.
  • the levitation body adjusts the vertical force and the rolling angle, and always uses the attractive force of the permanent magnet to cancel the applied vertical force and rolling torque.
  • the current of the composite magnet flows simply to maintain system stability.
  • F4 is shifted 60 mm from the center of gravity of the levitating body in the X1 direction. This is equivalent to applying a torque of 1 2 mN: m in the pitch direction of 2 N.
  • the results are shown in FIG.
  • the levitation body adjusts the distance (0.18 mm) to the orbit according to the vertical force, and cancels the load by using the attractive force of the permanent magnet.
  • the floating body has a positive pitch (0.006 rad) against the torque of 12 mNm in the pitch direction, and the torque of the additional pitch is canceled by the force of the permanent magnet.
  • the current of the composite magnet converges to zero as the normal position and pitch approach the equilibrium point.
  • the levitation body adjusts the vertical position and pitch angle according to the upward and downward force and pitch direction torque, and always uses the attractive force of the permanent magnet to apply the vertical force and pitch direction. Cancel the torque.
  • the control current of the composite magnet flows simply to maintain system stability.
  • Figure 15 shows the results. For a torque of 12 mNm in the direction of the arrow, the levitating body shows a minus angle (0.06 rad), and cancels the torque in the arrow direction applied by the force of the permanent magnet.
  • the motor current flows to suppress the vibration of the attitude angle ⁇ ⁇ 1, and converges to the steady current (0.02 A) when the vibration disappears.
  • the current of the composite magnet converges to zero as one corner approaches the equilibrium point.
  • the levitation body adjusts the attitude angle and the angle of the angle according to the tangential force and the torque in the direction of the arrow, and always uses the gravity and the attractive force of the permanent magnet to apply the lateral force and the arrow in the angle of the arrow. Cancel the torque.
  • the control current of the composite magnet flows simply to maintain system stability.
  • the damping coefficient given to the levitating body can be designed.
  • Energy consumption can be reduced while performing attitude control, stabilization control, and reduction control by using both the guidance of the levitation body and the levitation function.
  • the present invention has been described in connection with magnetic levitation systems, the present invention is not limited to magnetic levitation systems.
  • the present invention has been described in relation to the reduction, the present invention can also be used for actively moving an object. In such a case, it is possible to adopt a control method in which the rotating body is constantly rotated at a high speed and the rotating speed is arbitrarily increased or decreased.
  • one rotating body is provided.
  • two rotating bodies may be provided symmetrically left and right, and these may be rotated in directions different from each other.
  • the rotating body used in the present invention is generally a rotating body that is rotatable in two different directions, but a rotating body that rotates only in one direction may be used.
  • the rotating body is provided at or near the center of oscillation, but the rotating body does not necessarily need to be disposed at the center of oscillation.
  • the swing control device according to the present invention can be widely applied to not only a magnetic levitation system but also a suspended body or a floating body.

Abstract

L'invention concerne un système qui, malgré sa construction simple et compacte, contrôle les oscillations de manière satisfaisante. On décrit un dispositif de contrôle d'oscillations d'objet, sachant qu'un corps rotatif adapté à l'objet transmet son couple de réaction à l'objet, et le contrôle de la rotation de ce corps permet de contrôler les oscillations de l'objet, lesquelles sont sensiblement orthogonales par rapport à l'axe de rotation du corps. En mode de réalisation préféré, le contrôleur est utilisé avec un dispositif de lévitation magnétique sur lequel une piste de soutien de l'objet présente une section transversale circulaire vers le bas et offre une fonction de contrôle d'assiette capable de régler automatiquement l'angle d'inclinaison en fonction de la force centrifuge durant le passage le long d'une courbe.
PCT/JP2001/004550 2000-05-31 2001-05-30 Controleur d'oscillations et dispositif de levitation magnetique equipe de ce controleur WO2001092755A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2001260655A AU2001260655A1 (en) 2000-05-31 2001-05-30 Oscillation controlling device and magnetic levitation device equipped with the same

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2000-161612 2000-05-31
JP2000161612 2000-05-31

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Publication Number Publication Date
WO2001092755A1 true WO2001092755A1 (fr) 2001-12-06

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014007162A1 (fr) * 2012-07-03 2014-01-09 国立大学法人 東京大学 Camion de véhicule ferroviaire
CN107054153A (zh) * 2011-06-30 2017-08-18 Skytran公司 用于运输系统的驱动系统

Citations (9)

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Publication number Priority date Publication date Assignee Title
DE2242533A1 (de) * 1972-08-30 1974-03-21 Siemens Ag Schwebebahn
US3845720A (en) * 1972-01-20 1974-11-05 Krauss Maffei Ag Magnetic-levitation vehicle with auxiliary magnetic support at track-branch locations
DE2329560A1 (de) * 1972-01-17 1974-12-12 Krauss Maffei Ag System fuer schwebefahrzeuge
JPS5193008A (fr) * 1975-02-10 1976-08-14
JPS5353844Y2 (fr) * 1974-01-30 1978-12-23
JPH04121006A (ja) * 1990-09-10 1992-04-22 Hitachi Ltd 磁気浮上列車
JPH05141476A (ja) * 1991-11-19 1993-06-08 Mitsubishi Heavy Ind Ltd 振子状構造物の制振装置
JPH0656383A (ja) * 1992-08-06 1994-03-01 Taisei Corp 吊荷の姿勢制御方法とその装置
JPH08156896A (ja) * 1994-12-09 1996-06-18 Nec Corp 姿勢制御用ホイール及びこの姿勢制御用ホイールを用いた宇宙航行体の姿勢制御装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2329560A1 (de) * 1972-01-17 1974-12-12 Krauss Maffei Ag System fuer schwebefahrzeuge
US3845720A (en) * 1972-01-20 1974-11-05 Krauss Maffei Ag Magnetic-levitation vehicle with auxiliary magnetic support at track-branch locations
DE2242533A1 (de) * 1972-08-30 1974-03-21 Siemens Ag Schwebebahn
JPS5353844Y2 (fr) * 1974-01-30 1978-12-23
JPS5193008A (fr) * 1975-02-10 1976-08-14
JPH04121006A (ja) * 1990-09-10 1992-04-22 Hitachi Ltd 磁気浮上列車
JPH05141476A (ja) * 1991-11-19 1993-06-08 Mitsubishi Heavy Ind Ltd 振子状構造物の制振装置
JPH0656383A (ja) * 1992-08-06 1994-03-01 Taisei Corp 吊荷の姿勢制御方法とその装置
JPH08156896A (ja) * 1994-12-09 1996-06-18 Nec Corp 姿勢制御用ホイール及びこの姿勢制御用ホイールを用いた宇宙航行体の姿勢制御装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107054153A (zh) * 2011-06-30 2017-08-18 Skytran公司 用于运输系统的驱动系统
WO2014007162A1 (fr) * 2012-07-03 2014-01-09 国立大学法人 東京大学 Camion de véhicule ferroviaire
JP2014008941A (ja) * 2012-07-03 2014-01-20 Univ Of Tokyo 鉄道車両用台車

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