Stabilization of Cantilevered Flexible Structures by Means of an Internal Flowing Fluid

Sugiyama, Yoshihiko; Katayama, Toru; Kanki, E.; Nishino, Kiichi; Åkesson, Bengt

doi:10.1006/jfls.1996.0043

Cited by 21 publications

(7 citation statements)

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“…It is known that the #uid damping associated with a follower-type #uid jet may stabilize vibrations [101,109]. But a pure follower force may also act stabilizing, rather than destabilizing!…”

Section: Beck's Columnmentioning

confidence: 98%

Dynamic Stability of Columns Subjected to Follower Loads: A Survey

Langthjem

Sugiyama

2000

Journal of Sound and Vibration

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189

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Section: Beck's Columnmentioning

confidence: 98%

Dynamic Stability of Columns Subjected to Follower Loads: A Survey

Langthjem

Sugiyama

2000

Journal of Sound and Vibration

Self Cite

189

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“…In addition, some studies have investigated movements with a large deformation [16], [17], including in three-dimensions [18], with an initially curved tube [19], and with pulsatile flow [20], [21]. In particular, Sugiyama [22] pointed out that the flowing fluid inside a cantilevered pipe contributes to damping the body oscillation in the case of a slow-flowing speed. Our study also utilizes this damping effect.…”

Section: Related Studiesmentioning

confidence: 99%

Stabilized Controller for Jet Actuated Cantilevered Pipe Using Damping Effect of an Internal Flowing Fluid

et al. 2022

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Fluid jet actuation is a potential actuation technique for continuum robots. It can generate and rapidly control a relatively large force using a small and lightweight structure because a significant amount of energy can be transported through its internal channels. Recently, jet-actuated flying continuum robots have been developed using this advantageous characteristic. However, a challenging issue in controlling the robot is the fluid structure interaction between the flexible body and the internal flowing fluid. This interaction often causes instability in the pipe conveying fluid. In this study, as a first step to address this issue, we propose a stabilized controller (vertical position control) for a jet-actuated two-dimensional cantilevered pipe with a nozzle unit at the tip using the damping effect of the internal flowing fluid and verify the controller with a real robot. Specifically, a model is constructed with the net force of the jets as the control input. A simple controller that can constantly decrease the energy function is proposed by utilizing the damping effect of the flowing fluid. Numerical simulations verify the stability of the system regardless of the flow velocity. In particular, fluid damping mainly suppresses the higher-order mode oscillations. Moreover, the stability of the system can be improved by adjusting the controller gains. We also conduct experiments using an actual robot to verify the simulation results. The vibrations can be damped by the fluid effect, and the stability can be improved using the proposed controller.

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“…Note that the effect of Coriolis acceleration was studied by Sugiyama et al [38], who actively controlled the flow velocity in the pipe to suppress its lateral vibrations.…”

Section: The Transition To Fluttermentioning

confidence: 99%

Semi-active stabilisation of a pipe conveying fluid using eddy-current dampers: state-feedback control design, experimental validation

2019

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An application of electromagnetic devices of the motional type (i.e. eddy-current dampers) to improve the dynamic stability of a cantilever pipe discharging fluid is proposed. When the flow velocity reaches a critical value, this system loses stability through the flutter. A contactless damping device is used. This actuator is made of a conducting plate attached to the pipe that moves together with it within the perpendicular magnetic field that is generated by the controlled electromagnets. During the motion the eddy currents in the plate and a resultant drag force of a viscous character are generated. First, an optimal control problem that aims to stabilise the system with the optimal rate of decrease of the system's energy is posed and solved. Then a state-feedback parametrization of the obtained optimal control, which can be used in a closed-loop scheme is proposed. The effectiveness of the designed optimal controller is validated by making a comparison with the corresponding passive solutions on the specially designed and constructed experimental test stand of a pipe conveying air.

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Stabilization of Cantilevered Flexible Structures by Means of an Internal Flowing Fluid

Cited by 21 publications

References 0 publications

Dynamic Stability of Columns Subjected to Follower Loads: A Survey

Dynamic Stability of Columns Subjected to Follower Loads: A Survey

Stabilized Controller for Jet Actuated Cantilevered Pipe Using Damping Effect of an Internal Flowing Fluid

Semi-active stabilisation of a pipe conveying fluid using eddy-current dampers: state-feedback control design, experimental validation

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