平成15年度

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1 5 Ivesigaio of a Gof Swig Robo i Cosideaio of he Mass of a A 6578

2 DD , , Li

4 -,,,,,,,,,,,, ~4,, 3~4, 5, 6,,,, 7, 8, -,,, Li-SICE-DD

5 -3 7,

6 -, Fig- X Viua syse X subc vik M vitoo subm C Fig- Mode of oe-dof asaio vim X vicx vik X X, F p M X CX F a, X : X : X : X : M : C : vim : vic : vik : 3

7 F p : F : a, vim M subm 3 vic C subc M subm X C subc X vik X X Fp 4 MX CX Fp submx subcx vik X X 5 F a F submx subcx vik X X 6 p F a 6,,,,,, - DD Fig- DD vii vib vik τ, p 7 I B τ a 8, : : : : I : B : vii : 4

8 vib : vik : τ p : τ a : vii I subi vib B subb I subi B subb vik τ p 9 I B τ subi subb vik p 8 τ a τ subi subb vik p,,,,,, τ, p,,, 5

9 3 -,, Li-SICE-DD TabeR-pp46,, 3, 3, 3 3 Fig3-pp37 Fig3-pp37,, 3-, 3-, , s 3-3 Y s X s 33 Ts T z 34, 33 z s 34 d z d 6

10 33,34 Y z 8T d d z Y z d z d T d T z d T Y X z z d X d T d z d T z X z 35 z z z Y z Y 36 Y 8T d d Y d T Y d T d X d T d X d T d X d T 37 X Y 37, LP-age Y 3 LP-agua veociy, 3 LP-agua acceeaio x F x G w 38 y H x v 39 x, w }, v }, { { E { w }, E { v }, E { x } x, E{[ x x ][ x x ] } Σ x w E v T w T T T E{ w w } Σ w [ w v ] δ, T, Σ > E{ vv } Σ v v T v E { x }, E{ x }, { F }, { G }, { },,, { Σ w }, { Σ v }, y, y x T H x Σ x 7

11 x ˆ ˆ E{ x y, y }, x E{ x y, y } 3--, Li, fi,,,,,,,,,,,,, w, v σ w I v, σ I, { w { }, } v w i i i T i T 3 i i i x [,,,, ] T x, x F x G T i, 3 w 3 y H x v 33, 8

12 T T T T T T F H [ ] T y x y, [ ] T w w w, [ ] T v v v, G,,, ˆ ˆ ˆ x H y K x x 34 x F x ˆ ˆ 35 ˆ ˆ T H HP I H P K 36 ˆ ˆ ˆ P H K P P 37 Λ ˆ ˆ v w P F P σ σ 38, diag{,,,,,}, diag{,} T GG Λ I,,, x ˆ xˆ P ˆ v w σ σ 9

13 3--3 σ w, σ v, Fig3-3pp37 5, Fig3-4pp38 5 Fig3-3pp37, Fig3-4pp38,,,, 3--4,, 34, 35,,,,, 3--,, 3--3,,, 3--,, fi,,,,,,,, w, σ w I v,

14 σ v I i i [, ] T x,,,, x F y H x i i T i i x, i T 39 T i, 3 x G w 3 v 3 T T T T F T G T H [ ] T y x, y [ ] T [ v, v ] T, w w, w, v 3, 33, fi fi 3--5 F, G, H, K,

15 3--, 3--4 Fig3-5pp fi,fi,,,, 3--, 3--4 fi,fi, fi, 5 Fig3-6pp38 SOD, fi K-A, fi KV-A, fi K-A 3-3 Li,,, 4[sec], [sec] Fig3-7pp39, Fig3-8pp39 8 Fig3-9pp38, Fig3-pp39

16 ,, , Fig3-pp4,,,, 34 35,,, Fig3-pp4,, fi, 3

17 4 Li,,, 4- FIg4- y Ax,y X Fig4- Mode of Li-SICE-DD a obo d-3pp34 B, D I C, B D τ a 4 4

18 : cos cos cos M R M R M R M I : si si si, R R R C B B B sg sg D D D R I M I I M { 4- },,,,,, D D B B R M M 4- : :, : 9,,, :, 4 sg D B M τ 5

19 [ ] sg D B M τ y A ρ 44, sg sg A D B M ρ y τ τ, ρ ˆρ 45 T T y A A A ˆ ρ :, 4- sg D B R M a τ 46 [ ] sg D B R M a τ 47 6

20 , 47 a y A ρ 48 sg sg A D B R M ρ a a a y τ τ, a ρ ˆ a ρ T T a y A A A ˆ ρ 49 : 9, 4 sg D B M b τ 4 [ sg D B M b τ ] 4, 4 b y A ρ 4 7

21 sg sg A D B M ρ b b b y τ τ, b ρ ˆb ρ T T b y A A A ˆ ρ 43 ˆ a ρ, ˆb ρ ˆ ˆ ˆ M R M R 44 Rˆ ~ { },,,,,, D D B B R M M 8

22 , τ τ a p subi subb subd 5 subi I vii subb B vib subd D vid vii I vib B vid D τ p,,,, ,,, τ B D a vik 5 5, 5 τ a B D subi vik 53 9

23 subi I vii 3 vii I 5, 53 M, K M K 54 M K 55 ω 56 K ω ω 57 M, 56 cosω 58 T π / ω 59, 753, Fig5-pp4,,, Fig5-pp4,,,, Fig5-pp4 Fig5-pp4 Fig5-3pp4,,

24 Fig5-4pp45 T 6 Fig5-5pp453 T 3 57, T 6 5 T, 57, , 5--,,,,,,

25 6 6- L Li S Y Li L S Fig6- Swig ode X Tabe6- Paaees of a viua syse Fig6- XY S, S, Li, Li, Tabe6-,, vii vic, vik τ 6,, I C, B D τ p 6 a

26 vii :, vic, : τ p : I C, D τ a 9 : : B : : : vik vik CONSTANT > 9 9 vii I subi vic, C, subc, 63 6 { I subi } { C, subc, } vik τ p 64 I C, τ subi subc, vik 65 p B D I C, B D B D τ p subi subc, vik 66 6 τ a B D τ subi subc, vik 67 p 67, DD, 4 N /4 3N,,, 3

27 ,, 4/ 9N, Tabe6- swig, g swig Li -Y,,, 858Hz, 858Hz I, K I K 68, ω K ω 69 I, f ω f 6 π K 4π f I 6, 439N/ad 6- Fig6-pp43swig, Fig6-3pp43swig, Fig6-4pp43 swig, swig swig Li, Li Li, swig Li swig, Li, swig S 4

28 7,,,,, Li,,,,,,,,,,,,,,,, 5

29 ,,,,,,,,,,,,,, 6

30 ,, No ,99-3,, No ,- 3,, No98-8 I 998,B,7-4,, No , ,,No ,, No ,78-8 7,, No,-38,68-7 8,,64-63,C998, ,,997,,993 NHoga: Ipedace coo pa I-, Tas of ASME, J of Dyaic Syses, Measuee, ad Coo, Vo7,pp-4,985 7

31 A:, 9 B: 3 C: 3 D:Li-SICE-DD 3 E: Li-SICE-DD 45 8

32 A:, FigA- figa- i i, ω,, i i i i i i ˆ i ωi i Ri Zi ω a- ˆ i i i Zi i i R i i, i i R a- i i i i ˆ i i R ωi i Zi ω a- i i i i 9

33 i i i i i vi i Pi v ω a-3 i i i R a-3 i i i i i i i i i i i v R v ω P a-4 B: q, T, Q, i b- i d d T T q i qi Q i b- Q i, U, d d T T q i qi T q i U q i b- L LT-U d d L L q i q i b-3 a-7, Q i d d L L q i qi Q i b-4 C: i, I, v, i i gi ω gi 3

34 a-, a-4, i i i T T ivgi vgi ωi Iiωi c-, T T i i p gi, i, i i gi c- u gp c-3, U u i i L LT-U c-4 d d L L q i q i τ i c-5 τ i D:Li-SICE-DD p p g, g, cos si p g cos si p g 3

35 a-,a-4 ω ω cos si v g cos cos si si v g c- { } cos cos si si I z { } cos si I z I z d- { } cos cos si si I z { } si si cos cos I z cos z I d- 3

36 c- T cos I z I z d-3 DD, U, L T L T L,, L d-5 si L d-6 cos I z I z L d-7 cos I z L d-8 si cos I I L d d z z d-9 si cos I L d d z d- si cos τ I I L L d d z z d- 33

37 si si cos I L L d d z si cos τ I z d-, i i zi i I I si si cos cos cos τ τ I I I I I d-3 34

38 E: 4,, Fig6- M, e-,e- R R si R R si { R R MR { R R R cos } T R R } e- R R cos R R R si R T e- M M B B R R S S µ, γ, ς T / T / M R / R, T T / MR e-,e- µγ si µγ si { µ γ µγ { µγ γ cos } T } e-3 γ cos µγ ςt e-4 µγ si µγ, T, / τ T e-5 τ e-3,e-4 35

39 µ / τ / τ si µ / τ si { µ γ µγ } / τ e-6 γ cos / τ µγ / τ ς µγ / τ si µγ e-7 T,,, e-5,e-6, ς τ f τ, ς τ τ τ e-8,e-9e- T T f e-8 τ / τ T e-9 fτ τ fτ e- 36

40 Fig3- Diffeeia Fig3- Secod ode diffeeia Fig3-3 Copaiso of agua veociy vaiace aio:5 37

41 Fig3-4 Copaiso of agua veociy vaiace aio:5 Fig3-5 Kaa Gai Fig3-6 Copaiso of agua acceeaio 38

42 Fig3-7Copaiso of agua acceeaios Fig3-8 Copaiso of agua acceeaios Fig3-9 Copaiso of ages 39

43 Fig3- Copaiso of agua veociy Fig3- Copaiso of agua acceeaios Fig3- Copaiso of phase ages 4

44 Fig5- Copaiso of oques ea syse Fig5- Copaiso of oques viua syse Fig5-3 Copaiso of dispacees 4

45 Fig5-4 Dispacee of a ea syse Fig5-5 Dispacee of a viua syse 4

46 Fig 6- Locus of swig Fig 6-3 Locus of swig Fig 6-4 Ipu oque ad pesued oque 43

47 Fig6-5 Copaiso of agua acceeaios swig Fig6-6 Copaiso of agua acceeaios swig 44

48 FigR- Li-SICE-DD a obo FigR- Ouie dawig of a 45

49 TabeR- Specificaio of a desiged vaue TabeR- Specificaio of oo caaog vaue 46

LLG-R8.Nisus.pdf

LLG-R8.Nisus.pdf d M d t = γ M H + α M d M d t M γ [ 1/ ( Oe sec) ] α γ γ = gµ B h g g µ B h / π γ g = γ = 1.76 10 [ 7 1/ ( Oe sec) ] α α = λ γ λ λ λ α γ α α H α = γ H ω ω H α α H K K H K / M 1 1 > 0 α 1 M > 0 γ α γ =