巻号一覧
126 巻, 6 号
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特集：モーションコントロール・計測センサ応用全般
特集論文
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Seiichiro Katsura, Kouhei Ohnishi2006 年 126 巻 6 号 p. 693-699
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper presents a novel force controller to suppress torsional vibration of two-mass resonant system. The resonance ratio control is one of the effective control methods of two-mass resonant system. In this method, the ratio between the resonant frequency of motor and arm is determined arbitrary according to the feedback of estimated reaction torque. The reaction torque is estimated by using position sensitive detector (PSD). Since the estimation method does not need the parameter identification, the torsion information is obtained with accuracy.
To attain the affinity and adaptability to environment, motion systems should control the reaction force from the environment. In the force control system, the force response is regarded as a disturbance of the arm portion. The arm disturbance is observed by the arm disturbance observer. The proposed force control system is based on both the conventional PD control and the resonance ratio control and the determination method of pole placement is discussed. The proposed force control system can realize both the suppression of the inner torsional reaction torque and the adaptation to outer force inputs. The numerical and experimental results show viability of the proposed method.抄録全体を表示PDF形式でダウンロード (907K) -
坂本 憲昭, 小宮山 大吾, 窪田 政一2006 年 126 巻 6 号 p. 700-705
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーSliding mode control is a well-known technique to guarantee robustness in the presence of uncertainties of modeling, parameter variations, and external disturbances. The sliding mode control law is based on the knowledge of controlled system and the norm (or maximum value, etc.) of uncertainties. However, the modeling work is difficult, and the cost of it is expensive. So, this paper proposes the self-tuning sliding mode controller that calculates the control input (manipulated variable) only by using the desired value and the state variable without requiring the system parameter, the input parameter and the size of the disturbance. Various experiments, which are the temperature control of aluminum and wood-ceramics, the level control of the water tank, and the position control of the shape memory alloy in the program control (time-scheduled control), show the validity and utility of the proposed controller.抄録全体を表示PDF形式でダウンロード (311K) -
福島 啓介, 藤本 博志, 中川 真介2006 年 126 巻 6 号 p. 706-712
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーIn a short-span seeking-mode of hard disk drives, the resonance modes are getting crucial obstruction to meet the demand on high-speed data access. In this paper, a novel vibration suppression perfect tracking control (PTC) method is proposed based on controllable canonical realization. In the proposed method, it is assumed that plant is modeled as the rigid and primary resonance mode. By using this model, the feed forward controller is designed with PTC by multirate sampling control in order to suppress the primary vibration. Additionally, the higher-order resonance vibration is attenuated by using a trajectory named MHVT. The proposed method achieved 16% faster seeking than a conventional called MPVT method.抄録全体を表示PDF形式でダウンロード (1106K) -
山口 崇, 柴田 昌明2006 年 126 巻 6 号 p. 713-718
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper proposes a way of gait trajectory generation with artificial vector field for stable walking of a biped robot. The tip of the robot on walking can often deviate from the desired trajectory by the disturbances forced by unexpected outside factors. In our approach, though no prepared trajectory is specified a priori, the tip follows the artificial vectors designed in the workspace. Moreover, the prediction simulation is performed on-line. The simulator judges the stability under comparison with the present state and the prediction results, and then the gait parameters are adaptively improved in feedforward for the stable walk. The numerical and physical experimental results show the validity of the proposed method in the continuous walk.抄録全体を表示PDF形式でダウンロード (723K) -
橋本 誠司, 大石 潔, 小坂 光二, 石川 赴夫, 久保田 弘, 大見 忠弘2006 年 126 巻 6 号 p. 719-725
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis research has aimed at the control system development of a non-resonant ultrasonic motor (SPIDER)-driven precision stage. SPIDER is newly developed as an actuator to achieve the positioning performance required for next generation. In this paper, friction compensation is firstly realized considering integral effect of controllers. Next, the compensation is achieved based on the adaptive friction observer. Moreover it is experimentally verified that the stick-slip phenomenon is prevented for an environmental change by the proposal technique, and a quick positioning in the scale resolution becomes possible.抄録全体を表示PDF形式でダウンロード (1496K) -
市川 麻理子, 元木 聡, 柴田 昌明2006 年 126 巻 6 号 p. 726-731
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper proposes a visual servo control method for exploring motion of eye-in-hand robot to recognize a three-dimensional object. The CCD camera attached at the manipulator tip captures the images of the target object, and then the robot varies its own posture with referring the position transitions in the images of the feature points on the object. Our approach for optimal motion is based on the strategy in which the position estimation precision of the feature points in the captured images gets improved when the feature points move widely, and the optimal robot motion provides the widest transitions of the feature points per unit robot motion, so that the robot should be controlled to purse such motion. In the proposed method, the primary feature point is made located at the center of the image, while the other points are moved for achieving the optimal transition in the image. In addition, this paper describes the way to reduce calculation effort for the proposed method. The numerical and physical experiments have been executed with use of 3-DOF planar manipulator. The validity of our approach is confirmed in the several experimental results.抄録全体を表示PDF形式でダウンロード (776K) -
岩崎 誠, 前田 佳弘, 川福 基裕, 平井 洋武2006 年 126 巻 6 号 p. 732-740
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper presents a performance improvement approach for the fast and precise positioning using a 2-degrees-of-freedom (2DOF) controller. In the controller design, effects of nonlinear friction on the positioning performance are especially paid attention, where a precise nonlinear friction characteristic with rolling friction behaviors is mathematically modeled and considered. A disturbance observer with an initial value compensation, therefore, is adopted in order to improve the disturbance suppression characteristic in positioning. The proposed positioning control approach with the friction modeling and compensation has been verified by experiments using a prototype for industrial positioning devices.抄録全体を表示PDF形式でダウンロード (416K)
論文
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伏木 匠, 横田 孝義, 君田 和也, 熊谷 正俊2006 年 126 巻 6 号 p. 741-747
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーProbe cars are very effective tools in traffic information gathering. Probe cars can collect the traffic condition data without using roadside sensors but with only using their own equipped sensors. By using probe cars, it is expected that the accuracy of traffic information will be improved and the area coverage of the traffic information service will be increased, and many experimental probe car data collection projects have been implemented. However, the number of probe cars required for adequate information update frequency has not been theoretically discussed. This paper formulates the probabilistic relationships among the traffic volume of probe cars, the area coverage, and the update frequency of traffic information provision. This formulation calculates the adequate number of probe cars to realize traffic information services in advance considering two major service factors: area coverage and update frequency. This paper also validates the theoretical formulation with experimental probe car data collected in a taxi monitoring system.抄録全体を表示PDF形式でダウンロード (714K) -
森本 茂雄, 神名 玲秀, 真田 雅之, 武田 洋次2006 年 126 巻 6 号 p. 748-755
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThe model parameters of permanent magnet synchronous motor (PMSM) are required for a high-performance control and a model based sensorless control. This paper proposes the sensorless control system of PMSM that doesn't need parametric information beforehand. The parameters of PMSM drive system including inverter are identified at standstill and operating condition. At first, the initial rotor position is estimated by a signal injection sensorless scheme, in which the machine parameters are not required. After the initial position has been estimated, the resistance including on-resistance of IGBT, the voltage error caused by dead-time of inverter, d-axis and q-axis inductances are identified at standstill. After the motor starts by the signal injection sensorless control, the sensorless scheme changes to an extended EMF estimation based scheme. The estimated parameters of resistance, d-axis and q-axis inductances are used in such sensorless control. The magnet flux-linkage, which can not be estimated at standstill, is identified under the sensorless operation at medium and high speeds. The effectiveness of the proposed method is verified by several experimental results.抄録全体を表示PDF形式でダウンロード (367K) -
濱根 洋人, 兵働 善一, 林 洋一, 宮崎 一善2006 年 126 巻 6 号 p. 756-763
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper presents a self tuning strategy from noisy response data for a temperature controller. A general pre-filtering procedure in modeling and identification from noisy response data is not required in the proposed method for a general purpose controller. A two-step procedure for the regulator design is proposed. Laplace transfer function model from noisy step response data is built based on the Laguerre functions and thier orthonomal proparties. Then a regulator is directly computed based on the dominant parameters of estimated transfer function. The sequential self tuning is quite simple. An experiment shows that the proposed method could be successfully and also be easily applied in practice.抄録全体を表示PDF形式でダウンロード (656K) -
関 弘和, 杉本 武明, 多田隈 進2006 年 126 巻 6 号 p. 764-770
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper describes a novel straight road driving control scheme of power assisted wheelchair. Power assisted wheelchair which assists the driving force by electric motors is expected to be widely used as a mobility support system for elderly people and disabled people. The straight driving can be prevented by the road conditions such as branches, grass and carpets because the right and left wheels drive independently. This paper proposes a straight road driving control system based on the disturbance torque estimation. The proposed system estimates the difference of the driving torque by disturbance torque observer and compensates to one side of the wheels. Some practical driving experiments on various road conditions show the effectiveness of the proposed control system.抄録全体を表示PDF形式でダウンロード (1086K) -
辻 孝誠, 和田 耕太郎, 武藤 浩隆, 大塚 久, 八代 長生, 長岡 直人2006 年 126 巻 6 号 p. 771-777
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper states an investigated result of motor winding voltages driven by an inverter including propagation characteristic of a cable. We developed a cable surge analysis method that takes into account a frequency dependency of a dielectric characteristic of cable material and mutual induction between cable wires. A motor winding model considering a frequency dependency of a winding impedance and mutual coupling between slots is also proposed.抄録全体を表示PDF形式でダウンロード (737K) -
竹下 隆晴, 島田 大志2006 年 126 巻 6 号 p. 778-787
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper presents a control scheme of matrix converters for reducing the output voltage harmonics. The proposed control scheme is based on the direct AC/AC conversion approach and the carrier-based PWM control to obtain the constant switching frequency. The proposed scheme can realize the simultaneous control of both the output voltage and the input power factor. The feature of the proposed control scheme is the reduction of both the output voltage harmonics and the number of the commutations. The effectiveness of the proposed control algorithm of the matrix converters has been verified by simulations.抄録全体を表示PDF形式でダウンロード (467K) -
川崎 恒一, 深見 正, 花岡 良一, 高田 新三2006 年 126 巻 6 号 p. 788-793
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThe modeling and steady-state performance of a self-excited synchronous reluctance generator (SESRG) that has a multiple-barrier (MB) rotor is set forth in this paper. In addition to the core loss, the magnetic saturation in both d-q axes is included in the developed model. Experimental results conducted on a 0.75-kVA testing machine are provided to justify the analytical approach and performance calculations.抄録全体を表示PDF形式でダウンロード (745K) -
吉岡 康哉, 花本 剛士2006 年 126 巻 6 号 p. 794-803
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper presents an identification method using the total least squares method (the TLS method) for vibration modes of a mechanical system and a design method for vibration suppression control based on the identified numerical model. In driving the mechanical system with low rigidity, vibration caused by a mechanical resonance becomes a critical issue. Therefore, the identification of the vibration modes is necessary for the design of a high-performance control system. In this paper, the procedure of the identification method using the TLS method is described. The TLS method reaches the least squares solution, taking account of the measurement error. The model-matching method based on the identified numerical model is applied to design a two-degree-of-freedom velocity controller in discrete time system. Experimental results for a three-mass and a four-mass system are shown to demonstrate the performance of the proposed identification method and the proposed design method.抄録全体を表示PDF形式でダウンロード (1081K) -
高木 義之, 犬島 浩, 松本 正昭2006 年 126 巻 6 号 p. 804-811
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーMost switchboards are used for a long term of about 30 years. As for the switchboard, the situation of the use and maintenance is individually and greatly different. So the life-expectancy presumption technique of the switchboards has not been established. We executed the deterioration diagnosis for the switchboards that had been used for 30 years. We paid attention to the surface deterioration of the insulation materials that is the main element that decides the life-expectancy of the switchboards. We evaluated the life-expectancy presumtion technique of aged switchboards based on MTS (Mahalanobis Taguchi system) method. This technique attracts attention in recent years. And we confirmed the presumption result was corresponding to the result of the verification with temperature controlled bath actually.抄録全体を表示PDF形式でダウンロード (424K) -
大橋 俊介2006 年 126 巻 6 号 p. 812-817
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThe magnetically levitated conveyance systems have been developed. Most system consists of levitation (and guidance) section and thrust one. We have developed the conveyance system that realizes levitation and propulsion with single facility using two phase linear motor. In this system, levitation and propulsion system are combined. Control method for the propulsion system to get more stability is discussed. To obtain the propulsion force, modulation of the voltage applied on the primary windings is undertaken. Traveling field is generated and the carrier with the secondary iron core can move. Levitation force is given by attractive force between flux generated by the primary windings and secondary iron core. As we need only electrical power for FET switching on the carrier side, power supply system for carrier is not needed. From the experimental results, it is shown that this system realizes contact-less conveyance with various propulsion patterns.抄録全体を表示PDF形式でダウンロード (1736K)
研究開発レター
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山田 洋明, 平木 英治, 田中 俊彦2006 年 126 巻 6 号 p. 818-819
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーThis paper proposes a new method of compensating harmonic currents under the soft start in wind power generation systems using the hybrid filter, which consists of a passive and small-rated active filters. For the fundamental component, the passive filter behaves a phase-leading capacitor. The small-rated active filter compensates the harmonic currents under the soft start. The basic principle of the proposed compensator is discussed, and then confirmed by digital computer simulation using PSCAD/EMTDC. Simulation results demonstrate that the source currents become sinusoidal waveforms under the soft start.抄録全体を表示PDF形式でダウンロード (372K)
エラータ
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2006 年 126 巻 6 号 p. E6
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリーWrong:1) Power Electronic Systems Laboratory, ETH Zurich
2) Power Electronic Systems Laboratory, ETH Zurich
Right:1) Power Electronic Systems Laboratory, ETH Zurich抄録全体を表示 -
2006 年 126 巻 6 号 p. E7
発行日: 2006年
公開日: 2006/09/01
ジャーナル フリー
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