IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Volume 133, Issue 3
Displaying 1-33 of 33 articles from this issue
Special Issue on “Industry Instrumentation and Control”
Special Issue Paper
  • Ryo Furusawa, Kiyoshi Ohishi, Kenji Iwazaki, Koichi Kageyama, Masaru T ...
    2013 Volume 133 Issue 3 Pages 248-261
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    Currently, most plastic products are manufactured using injection molding machines. In the force control system of a typical injection molding machine, the force information from the machine's environment is obtained using a force sensor. However, these sensors have several disadvantages, which include signal noise, sensor cost, and a narrow bandwidth. Thus, sensorless force detection methods are desirable. We have previously proposed a new injection force estimation method based on a high-order reaction force observer (HORFO), which is not significantly influenced by a nonlinear friction phenomenon. In this paper, a dual HORFO is proposed to improve the estimation accuracy of the HORFO. However, this method needs both a long calculation time and a large CPU memory. To overcome this problem, an automatic parameter-switching reaction force observer (APS-RFO) is proposed to improve the estimation accuracy of the HORFO. Moreover, this study evaluates the possibility of a sensorless force control system using the proposed APS-RFO.
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  • Kentaro Sato, Kiyoshi Ohishi, Toshimasa Miyazaki
    2013 Volume 133 Issue 3 Pages 262-271
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    A method for estimating the sway angle using an observer has already been proposed. The state observer estimates the sway angle accurately, and has to use the detected sway angle value. However, the estimated sway angle has an error owing to rope length error, friction force, and wind. Moreover, the container mass cannot be determined, therefore, the observer parameter is not suitable. We already proposed robust anti-sway control for overcoming rope length error without adding a new sensor. Further, we designed a friction disturbance observer to cancel out the influence of friction force. In this paper, we first propose a container mass estimation method when crane system performs rolling up control. The observer parameter can be selected by an estimated mass value. Second, in crane parallel shift control, we propose a robust anti-sway control even with wind disturbance. We design a wind disturbance observer and propose a wind disturbance estimator to separate the friction observer output from the wind disturbance observer output. We confirm via experiments that the proposed method can suppress vibration.
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  • Yoshiyuki Urakawa
    2013 Volume 133 Issue 3 Pages 272-281
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    Digital controllers are applied to various systems owing to their precision in realizing high-order controllers. However, they must consider calculation delay; the phase lag due to this delay degrades the performance of the control system. Controllers with a fixed structure, such as PID controllers, are generally used in practice, but the influence of calculation delays on them is not obvious. For example, it is difficult to derive parameters that maximize the performance of control systems with calculation delay, making it necessary to tune the parameters of the controllers by trial and error. Therefore, this paper proposes a limited pole placement (LPP) method to calculate the parameters for controllers having fixed structures and with calculation delay. In this study, the parameters that suppress the vibration due to phase lag are derived, and the performance of the control system is maximized by analyzing the location of the determined poles. The optimal parameters for fixed controllers with delay using the LPP method are determined efficiently.
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  • Noriaki Hirose, Ryosuke Tajima, Kazutoshi Sukigara, Yuji Tsusaka
    2013 Volume 133 Issue 3 Pages 282-289
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This paper presents a novel posture control approach using feedback compensation with an unstable pole. For the narrow and small PMR (personal mobility robot), it is required to control its posture for achieving quick turning and high acceleration. However, in the conventional control approach that uses the posture angle as a controlled variable, the ZMP (zero moment point) cannot be settled to the desired point in the following cases: an unknown disturbance force given to the PMR, the fluctuation in the center of gravity of the PMR, and the conditioned change between the tires and the road surface. In this paper, a novel control method using feedback compensation with an unstable pole is proposed to achieve the desired ZMP at steady state. The proposed controller changes the control input for the actuator of the posture control to zero in order to achieve the desired posture angle. The effectiveness of the proposed approach is verified via experiments using a prototype of the PMR.
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  • Takanori Kato, Yoshihiro Maeda, Makoto Iwasaki, Hiromu Hirai
    2013 Volume 133 Issue 3 Pages 290-299
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This paper presents a novel simultaneous optimization between feedforward (FF) and feedback (FB) compensators in 2-degree-of-freedom (2-DOF) positioning systems for robust vibration suppression control against frequency perturbations of mechanical vibration modes. The authors have already proposed a coordinate design between the FF and the FB compensators of the 2-DOF controller to improve the robust properties in the positioning. In the conventional approach, however, residual vibrations due to the frequency perturbations still remained after the settling because the conventional coordinate design was a quasi-optimization of the 2-DOF controller. In this study, therefore, a simultaneous optimization is adopted to suppress the residual vibration. The effectiveness of the proposed controller design has been verified by numerical simulations and experiments using a prototype of a galvano scanner.
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  • Takuya Kidokoro, Satoshi Suzuki, Hiroshi Igarashi, Syuichi Nakata, Har ...
    2013 Volume 133 Issue 3 Pages 300-306
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This paper proposes a new approach to the classification of operator behaviors using a self-organizing map (SOM) and ontology. In order to construct the behavior classificator, ontology and Petri net are used to analyze the types of operations. An SOM is used to establish relations between behavior modes and operational states. An experiment was performed using a virtual transportation task simulator to verify the presented approach, and the operator's behavior during machine manipulation was classified on the basis of the time-series data obtained through the experiment. The behaviors classified using the proposed technique were compared with those extracted by human analysis, and it was confirmed that the classification accuracy of the presented method ranged from 30% to 80% (M = 41.2%, SD = 18.9%), whereas average accuracy of human analysis was as low as 29.7%.
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  • Keita Shimamoto, Kazuki Tanida, Takahiro Nozaki, Kouhei Ohnishi
    2013 Volume 133 Issue 3 Pages 307-313
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    Conventionally, the large inertia in multiple-degree-of-freedom robots is a problem when using bilateral control for the transmission of force sensation. In this paper, a motion control method for tendon-driven spherical joint mechanisms is proposed to transmit the force sensation. The mechanism is lightweight and has two degrees of freedom in one joint. In the proposed control method, an imaginary plane is defined and utilized for force projection to control force. The experimental results show that the transmission of the force sensation was achieved using the proposed control method.
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  • Mariko Mizuochi, Kouhei Ohnishi
    2013 Volume 133 Issue 3 Pages 314-319
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    The objective of this study is to achieve precise bilateral teleoperation with wide-band haptic sensations even under limitation on a packet transmission rate. Because a wide-band signal is essential for the reproduction of wide-band haptic sensation, a coding scheme using a low-pass filter and discrete Fourier transform was applied to signal transmission between the master and the slave to transmit the wide-band signal independently from the packet transmission rate. Although the bandwidth is widened with a small delay, the calculation cost and the transmission packet size increase with the scheme. A method for reducing the calculation cost and the transmission packet size while maintaining high performance was then proposed on the basis of the analysis on the influence of the bandwidth limitation of each signal on the bilateral teleoperation performance. In this method, the bandwidth of the transmission signal is determined independently for each signal on the basis of the degree of the influence, and priority is given to the transmission of wide-band components of a signal on which bandwidth limitation imposes a large influence. The validity of the proposed method was experimentally verified.
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  • Keita Mori, Fumiyuki Fukui, Yutaka Uchimura
    2013 Volume 133 Issue 3 Pages 320-327
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This paper presents a stability criterion for biped robots on rough terrain. On rough terrain, which is not vertical to gravity, a robot may not fall even though its center of mass is out of the area of the supported polygon defined by the conventional VHP (Virtual Horizontal Plane) method. This is because there exists a certain force opposing the torque that causes the robot to fall down. We propose a new measure for strictly judging the limit of falling considering all the forces acting on the contact points. Numerical simulations and experimental results are also shown, which verify the proposed method.
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  • Koyo Yu, Yuki Saito, Yusuke Kasahara, Hiromasa Kawana, Shin Usuda, Kou ...
    2013 Volume 133 Issue 3 Pages 328-334
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    It is important to classify the bone density for dental implants. In this paper, a method for estimating the bone density is proposed by modeling the relationship between the cutting force and the bone density. The bone density can be obtained in real time by comparing the force from a reaction force observer with the force from a thrust force formula with pre-estimated bone density parameters. The validity of the proposed method was confirmed through experiments using different types of wood mentioned in Misch's bone density classification. The experimental results indicated that the error of contact detection was ±50µm and the error of bone density detection was 0.16mm.
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  • Shuhei Shigeto, Hiroshi Fujimoto, Yoichi Hori, Masatsugu Otsuki, Tatsu ...
    2013 Volume 133 Issue 3 Pages 335-341
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    In the past, landers have landed on flat areas of lunar/planetary surfaces in order to avoid terrains that are rocky, or that have craters or hills. For next-generation exploration, lunar/planetary landers will require sophisticated technology to land on these areas as well for furture exploration. In this paper, we propose predictive control for actively controlled landing gear with a ball screw linear actuator. The effectiveness of proposed method is shown through simulation and experimental results.
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Paper
  • Yasuyuki Hara, Hitoshi Haga, Seiji Kondo
    2013 Volume 133 Issue 3 Pages 342-349
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This paper proposes a method to detect the DC voltage in order to restore the three-phase voltage of a current source inverter (CSI). The proposed method obtains the three-phase voltage by using the DC voltage and the switching pattern of the CSI. This study improves the restore waveform by considering the delay of the filter. The proposed method can reduce the distortion at the output voltage crosses. This paper shows the characteristics of the proposed method with the conditions of the CSI, such as the modulation ratio, switching frequency, output frequency, and filter capacitance. The experimental results confirm that the proposed method effectively obtains the three-phase voltage. Furthermore, it clarifies the operation condition to obtain a good restoration waveform through the analysis results.
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  • Koji Orikawa, Jun-ichi Itoh
    2013 Volume 133 Issue 3 Pages 350-359
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This paper clarifies the principle of the surge voltage of a rectifier diode that is connected to a transformer in an isolated power converter. It is confirmed that the theoretical vibrational frequency of the diode voltage in the equivalent circuit is in agreement with the experimental result. In addition, the design method of the RC snubber circuit is discussed by using the equivalent circuit consisting of a transformer, a snubber circuit, and a diode. Finally, the validity of the design method is confirmed by the experimental results.
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  • Satoshi Miyawaki, Jun-ichi Itoh, Kazuki Iwaya
    2013 Volume 133 Issue 3 Pages 360-367
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This paper proposes a design procedure in the efficiency of a resonant type half-bridge converter for a high efficiency isolated DC/DC converter. The design procedure is based on the loss calculation. The relationship between the loss element and the efficiency characteristics was clarified. The loss analysis method based on the parameters of the circuit element is formulated. The analysis results agree well with experimental results. In addition, the highest efficiency of 96.8% is obtained using the half-bridge converter. Finally, design procedure in the efficiency was clarified using a design procedure flowchart.
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  • Naoki Shimada, Takashi Yoshioka, Kiyoshi Ohishi, Toshimasa Miyazaki, Y ...
    2013 Volume 133 Issue 3 Pages 368-377
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    This study proposes a variable dynamic threshold for a jerk signal for achieving contact detection in industrial robots. A sensorless force control is useful for application to advanced industrial robots. The external torque of each joint is estimated accurately by using a disturbance observer and by inverse dynamics calculation. However, the phase-lag of the disturbance observer and the dynamic parameter error cause force estimation errors. These errors hamper quick and reliable contact detection in industrial robots. Therefore, this study proposes a useful contact detection approach that uses a variable dynamic threshold for a jerk signal. The proposed variable dynamic threshold reduces contact detection failures caused by force estimation errors during the free motion of a robot. The proposed threshold is suitable for robot motion and improves the speed of contact detection. Numerical simulation results show that the proposed method is valid for parameter variations in an actual industrial robot. In addition, experimental results show that the dynamic threshold is a useful technique even for application to general robot systems. The dynamic threshold is useful for application to any industrial sensorless force control system.
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  • Kohei Yamamoto, Takashi Maruyama, Keiichiro Kondo, Takayuki Kashiwagi
    2013 Volume 133 Issue 3 Pages 378-385
    Published: March 01, 2013
    Released on J-STAGE: March 01, 2013
    JOURNAL FREE ACCESS
    Problems in high-power contactless power transmission systems using series and parallel resonance capacitors arise from the maximum voltage limit of the series capacitor owing to high reactive power. In this study, the characteristics of reactive power are analyzed using an equivalent circuit and the contactless power transfer system is designed considering reactive power characteristics. The self-inductance and the frequency can determine the distribution of reactive power at the primary side and the secondary side. In addition, the optimal winding number and size of the coil and the appropriate frequency are investigated by electromagnetic field analysis.
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