Special Issue on “Measurement and Analysis of Data, and Its Application to Control Technology”
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Ryota Yasui, Takao Sato, Nozomu Araki, Yasuo Konishi
2018 Volume 138 Issue 5 Pages
471-479
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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In the control education, students are able to understand the control theory intuitively through the education using experiments. In this study, the authors develop an experimental device for the control education. By using the device, it is possible for students to comprehend the control through experience and to enhance the students comprehension in the control. In the device, a controlled object is floated by rotating a propeller, and the floating level is adjusted by controlling the angular velocity of the propeller. Further, students recognize the control effect resulted from the control actuation since the propeller is rotating while the object is floated. The floating device is developed of commercial components, and hence, an experimental setup can be prepared at a low price. Students are educated on the control theory using the device, and its effectiveness is validated. In the control education, the device operation method and the control theory are explained alternately. From the questionnaire before and after the experiment, the effectiveness of the control education using the device is demonstrated.
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Masanobu Obika, Toru Yamamoto
2018 Volume 138 Issue 5 Pages
480-485
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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In process Industries, there is a growing trend toward low carbon society. Especially in oil refinement and petrochemical industries, furnaces consume a lot of energy. In order to reduce the energy consumption, excess O2 has to be reduce safely. However, high gain O2 control cannot be done due to L/T>1. Therefore, conventional O2 controllers are operated with low gains. That is, high stable control performance for disturbances has not been able to obtain, then minimum excess O2 control cannot be achieved. The proposed method which utilizes the estimated O2 variable can derive much better control performance. Moreover, since the proposed estimation technique consists of a physical model part and a stochastic soft-sensor, both estimation accuracy and reliability for extrapolation can be obtained. The validity of the proposed scheme is verified through actual application results.
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Akira Yanou
2018 Volume 138 Issue 5 Pages
486-491
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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This paper proposes a design method of strong stability self-tuning controller based on on-demand type feedback control. For safety in industrial applications, although it is important to consider on-demand type feedback control system, the previous papers about on-demand type feedback control did not consider the influence of noise and fixed the design parameter to constant value. Therefore, this paper extends the design parameter of on-demand type feedback control as stable rational function through the design method of strong stability system using coprime factorization. Moreover the self-tuning controller of the proposed method is given and the control result with noise is shown by numerical example.
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Taro Takagi, Ikuro Mizumoto
2018 Volume 138 Issue 5 Pages
492-497
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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This paper deals with a design problem of parallel feedforward compensator (PFC) without controlled system model. PFC has been proposed to overcome the problem that controlled system does not satisfy the conditions of almost strictly positive real (ASPR) based adaptive control system. In most conventional methods, the design parameters are decided by the designers knowledge or trial and error of designer by using controlled system model. In the proposed method, PFC parameters will be optimized via differential evolution (DE) by using the given input/output data set of controlled system.
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Toyoaki Tanikawa, Tomohiro Henmi, Akira Inoue, Akira Yanou, Shinich Yo ...
2018 Volume 138 Issue 5 Pages
498-505
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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This paper presents how to make steady-state error zero on designing strongly stable Generalized Predictive Control (GPC). Recently, the design method based on placing poles of the controller was proposed on strongly stable GPC, and it enabled to stabilize both the closed loop system and the controller. However, there is a problem that the steady-state error remains after the feedback loop is accidentally cut. In this paper, a conditional equation for controlled output to follow the reference value is derived. It determines the design parameters of strongly stable GPC using Computer Algebra System. Not only when feedback is cut, but also when output feedback is a fixed value, that is, output sensor is in a sticked error, it is derived that the output steady error is zero by using the obtained conditions. Controlling simulation is performed and it is confirmed that no steady-state error remains. As the result, this method makes steady-state error zero and enhances the safety on strongly stable GPC.
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Kazushige Koiwai, Ryunosuke Miyazaki, Toru Yamamoto, Koji Ueda, Koji Y ...
2018 Volume 138 Issue 5 Pages
506-511
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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Some industrial equipments are required by the human operation such as bulldozers, excavators and cranes. Construction machines with better operability are necessary to improve productivity. Evaluations of those operational equipments are performed to obtain the better operability by subjective evaluations of the specific evaluator at the design stage. However, subjective evaluations require the skill of evaluator or a lot of sample data. In this paper, relationships between approximated parameters expressed as a low order system and subjective evaluations are verified by using the Weber-Fechner law. The evaluated motion is the boom up motion for an excavator. The simulator for the boom motion has been made because the real excavator has the limited condition. Therefore, the evaluation is performed numerically and experimentally. Approximated system parameters for the real excavator are calculated by the genetic algorithm.
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Kento Kinoshita, Shin Wakitani, Shuichi Ohno
2018 Volume 138 Issue 5 Pages
512-519
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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PID controllers have been widely used for process systems. However, a good control result is not always obtained with fixed PID gains when a controlled object has nonlinearity. This paper proposes a design method for a nonlinear PID controller that utilizes a neural network to overcome the problem. In the proposed controller, PID gains are tuned online by a neural network and a controlled object is manipulated by the PID controller with the tuned PID gains. The neural network is learned by an offline learning algorithm based on the Extended Fictitious Reference Iterative Tuning (E-FRIT) and the backpropagation. E-FRIT is a method that tunes control parameters directly by using operating data and evaluates not only a controlled output but also the difference of manipulated variable. Simulation examples are provided to show the effectiveness of the proposed method. Moreover, the experimental result of a level control of a tank system is also given to demonstrate the performance of the proposed method.
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Tomohiro Henmi, Masaki Akiyama, Toru Yamamoto
2018 Volume 138 Issue 5 Pages
520-527
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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In this paper, a reproduction of a swing-up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an Equivalent Center of Mass(ECM) of underactuated robots and the gymnast. At first, the behaviors of the Equivalent Center of Mass of the gymnast(ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing-up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the Equivalent Center of the Mass of the Acrobot(ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing-up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.
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Tomoshi Otsuki, Mamiko Abe, Eiichi Sunagawa, Kenichi Fujiwara, Takahir ...
2018 Volume 138 Issue 5 Pages
528-536
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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To deal with the local dissatisfaction with air-conditioner environment in office rooms, we propose a novel method for adjusting setting parameters of multiple indoor equipments together. In this paper, we demonstrate the framework of the method which sequentially tries various settings of multiple indoor equipments based on neighborhood search. Then, we show the experimental results in a room that has two indoor equipments. As a result, we can control the temperature in 9 out of 21 measuring points in the sense that we can cool the respective point most among all the 21 points.
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Tomohiro Henmi, Satoshi Murakami, Ikuro Mizumoto
2018 Volume 138 Issue 5 Pages
537-542
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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In this paper, for an adaptive model predictive controller(AMPC) which has new internal model, tuning method of control parameters is discussed. Internal model in proposed AMPC has a control parameter to compensate a performance degradation caused by modeling errer between the internal model and an real model, and a parameter tuning method is proposed based on a steady-state characteristic of the control system. In order to verify an effectiveness of the proposed tuning method, numerical simulations with several condition are performed for Hammerstein system.
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Akira Inoue, Akira Yanou, Mingcong Deng, Tomohiro Henmi, Shin-ich Yosh ...
2018 Volume 138 Issue 5 Pages
543-548
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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This paper proposes a method to design the weighting factor of control inputs in performance index of model predictive controllers. The weighting factor decides the closed-loop poles of predictive controllers and in this paper, the factor is determined to suppress overshoot peak value in transient response. For this purpose, a procedure to estimate the peak value of the overshoot is proposed. The procedure is derived based on the fact that the output transient response is obtained by a combination of powers of the closed-loop poles. Although the procedure does not give the exact overshoot peak values because the combination will change according the initial values and zeros of the plant, simulation examples give a good transient output response by choosing the weighting factor to minimize the estimated overshoot peak values.
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Yoichiro Ashida, Shin Wakitani, Toru Yamamoto
2018 Volume 138 Issue 5 Pages
549-555
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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PID controllers have been widely employed in real process systems. Since PID gains strongly affect the control performance, lots of schemes for tuning PID gains have been proposed. In processes industries, most of the PID controllers have fixed PID gains. However, it is impossible to obtain good control performance for time-variant systems by the fixed PID controllers. Therefore, it is important to tune PID gains in an on-line manner. In addition, especially in process systems, it is difficult to practice an open-loop experiment. Since, it is important to determine PID gains directly from the closed-loop operating data. In this paper, in order to overcome these problems, an implicit self-tuning PID control scheme is proposed. In the proposed method, a new PID gain tuning law based on an augmented output generated by closed-loop data is introduced, and recursive least squares method is applied to tune the parameters in an on-line manner. The effectiveness of the controller design scheme is evaluated by simulation and experimental examples.
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Seiya Fujii, Ikuro Mizumoto
2018 Volume 138 Issue 5 Pages
556-565
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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In this paper, two-degree of freedom adaptive control system design scheme via an adaptive output feedback control with a simple adaptive feedforward input is proposed based on ASPR property of the system for MIMO discrete-time systems with the relative degree of zero. Since the ASPR discrete-time system must have the direct feedthrough term of the input, the control system is not able to design directly due to causality problem. To solve this causality problem, we will consider introducing a pre-compensator and introducing a parallel feedforward compensator for making the system ASPR again. We will also propose a simple adaptive feedforward control design scheme for improving the control performance. The effectiveness of the proposed method will be confirmed through some numerical simulations.
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Kazuo Kawada, Yoshiaki Shoda, Teruyuki Tamai, Akitaka Kimura
2018 Volume 138 Issue 5 Pages
566-571
Published: May 01, 2018
Released on J-STAGE: May 01, 2018
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In April 2011, “information technology vision of education” which is a measure for the information of the education to 2020 year were summarized. For this reason, the Ministry of Internal Affairs and Communications, and the Ministry of Education, Culture, Sports, Science and Technology were the business in cooperation. In this report, improvement of teaching using ICT are mentioned. In junior high school technical education, a mechanism for processing the structure and material of tools and equipment, it is necessary to education that is based on scientific evidence. Therefore, the thrust force and torque by a gimlet are measured using an instrument intended to be quantitatively evaluated, including a process.
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