電気学会論文誌Ｄ（産業応用部門誌）
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
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135 巻, 3 号
選択された号の論文の34件中1～34を表示しています
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特集：産業計測制御，メカトロニクス制御
特集論文
  • モデル予測制御に基づくパーソナルロボットの姿勢安定化制御
    廣瀬 徳晃, 但馬 竜介, 鋤柄 和俊, 小山 渚, 田中 稔, 伊藤 誠悟
    2015 年 135 巻 3 号 p. 172-181
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.172
    ジャーナル フリー
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    The ageing of elderly is a significant problem in developed countries. We address the problem by using a personal robot that follows elderly people. To accomplish its task, the robot needs to meet two main specifications: compact size, and excellent traveling performance. In this paper, we introduce the prototype of our compact personal robot and propose a posture control approach based on a model predictive control. Our approach can control the zero moment point within the desired range to achieve quick turning. The effectiveness of the proposed approach is evaluated by both simulations and experiments using the prototype robot.
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  • 磁界共振結合によるワイヤレスインホイールモータの電力変換回路の制御に関する基礎研究
    郡司 大輔, 居村 岳広, 藤本 博志
    2015 年 135 巻 3 号 p. 182-191
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.182
    ジャーナル フリー
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    The in-wheel motor (IWM) is the most preferred driving mechanism of electric vehicles for its advantages of vehicle motion control, energy efficiency, and vehicle design flexibility. One of the technical problems of the IWM is the reliability of power and the signal wires. Wireless power transfer technology is the best solution to this problem. In this paper, a bidirectional wireless power transfer circuit using a primary inverter and a secondary converter is proposed. We propose a control method for both the inverter and the converter to stabilize the secondary DC-link voltage. The proposed method is verified by simulation and experiment using simulated test equipment.
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  • 不安定な通信ネットワークを考慮した通信外乱オブザーバ内の制御対象モデルの配置方法
    兵頭 翔洋, 大西 公平
    2015 年 135 巻 3 号 p. 192-198
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.192
    ジャーナル フリー
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    Time delay problem used to be dealt mainly in process or plant engineering in the early phase of time delay systems research. In recent years, time delay problem in network-based control systems has been attracting much attention. This kind of network is usually unstable, and time delay is time varying and unpredictable. As a time delay compensation method, Smith predictor was a famous and useful approach. However, this method uses time delay model to compensate for time delay effect and so it is not a practical method for network-based control systems. Thus, communication disturbance observer (CDOB) has been proposed to compensate for time delay effect without using a time delay model. However, a large steady state error occurs, if the network is unstable. This paper modifies the structure of a time-delayed control system with CDOB considering an unstable network. To reduce nonlinear effects such as jitter or packet dropouts, the allocation of the system model in the CDOB has been modified. Then, the robustness of the modified CDOB structure against packet dropouts and jitter is confirmed by simulation. The validity of the modified structure is shown by experimental results.
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  • 脚拡張外骨格の足先位置決め精度とリンク長に関する一考察
    舘野 佐武郎, 南方 英明
    2015 年 135 巻 3 号 p. 199-204
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.199
    ジャーナル フリー
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    We developed a leg extender exoskeleton that extends the leg length by 40 cm. We also propose a linearity index to evaluate the feeling of operating the exoskeleton. We developed an evaluation method for the foot positioning accuracy of the leg extender exoskeleton. This method uses three types of target marker trajectories to consider various walking situations.  We performed an actual experiment with four types of link configurations. The foot positioning accuracy was measured and evaluated according to the linearity index of each exoskeleton. The results showed that an exoskeleton with good linearity provides better foot positioning accuracy.
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  • 直流電動機における位置センサレス運動制御
    神原 義幸, 魚住 誠二, 野崎 貴裕, 大西 公平
    2015 年 135 巻 3 号 p. 205-211
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.205
    ジャーナル フリー
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    In this paper, a voltage disturbance observer (VDOB) and counter electromotive force estimation observer (CFOB) are proposed. A voltage disturbance is defined as the electrical disturbance of DC brushed motors. A VDOB estimates a voltage disturbance from a voltage reference and the measured current. Utilizing a VDOB, high-performance motion control is realized. A CFOB estimates the counter electromotive force from an estimated voltage disturbance. By estimating the angular velocity from the counter electromotive force, position-sensorless motion control is realized. Therefore, high-performance position-sensorless motion control of DC motors is realized by combining these observers. The validity is experimentally verified.
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  • 高分解能エンコーダの適用による駆動側情報を用いない2慣性系の制振制御法
    山田 翔太, 藤本 博志, 堀 洋一
    2015 年 135 巻 3 号 p. 212-219
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.212
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    The developments in position control methods have enabled us to obtain a rapid response or high control bandwidth for improving control performance. However, there is an emerging problem in which a control system with a high control bandwidth may excite mechanical vibration, which deteriorates control performance. This is the case especially in a mechanism that has a flexible joint between the motor and the load, such as the feeding tables of machine tools, the arms of industrial robots, and rolling mills. Therefore, there is a strong demand for vibration suppression control with a high control bandwidth while maintaining productivity. For high-precision control of a two-inertia system, the position information of both the motor side and load side is usually required to obtain a high control bandwidth. In order to reduce the implementation cost and space, a novel control method, which employs the load-side information only, is proposed using a high-resolution encoder. Simulation and experimental results demonstrate that the proposed method is implementable and exhibits good control performance.
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  • 二足歩行ロボットにおけるビジョンベースの環境情報に基づく着地脚の接地角度推定
    山崎 美奈, 小田 尚樹
    2015 年 135 巻 3 号 p. 220-226
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.220
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    The paper presents a vision-based estimation method for the landing foot angle of a biped walking robot on uneven terrain. The authors previously proposed a vision-based compliant landing method. However, this method only considers flat and horizontal ground, and the landing foot angle estimation by internal sensors such as encoders may cause error to accumulate. To overcome this problem, the present paper proposes directly estimating the landing foot angle by using visual sensing information. Furthermore, stable contact after landing is achieved by reaction force feedback considering the landing angle. The validity of this method was evaluated through several experiments.
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  • 粗微動間連結分離機構を有する精密位置決めステージの終端状態制御法を用いた整定時間短縮法
    矢崎 雄馬, 藤本 博志, 堀 洋一, 坂田 晃一, 原 篤史, 佐伯 和明
    2015 年 135 巻 3 号 p. 227-236
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.227
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    High-precision stages require high-speed and high-precision control to improve their production throughput and quality. However, their motion speed and accuracy are expected to reach a limit in the near future if the conventional high-precision stage structure is used. Therefore, the authors designed and fabricated a ‘catapult stage’ which has a structure that can be decoupled into a fine stage and coarse stage. The catapult stage is different from conventional dual stages where the fine stage is disturbed by the coarse stage because they contact each other. This paper proposes a novel control system design for the catapult stage and a control method that shortens the settling time using final state control (FSC). So far, FSC has mainly been used for applications such as hard disk drives for which the initial states are zero. However, it is important to consider the initial states for the catapult stage because the initial position, velocity and acceleration of the catapult stage are not equal to zero. Simulations and experiments were performed to demonstrate the effectiveness of the proposed methods.
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  • 駆動共振相殺制御による2慣性系の制振制御とベルト駆動サーボシステムへの応用
    犬飼 健二, 藤本 博志, 高橋 太郎
    2015 年 135 巻 3 号 p. 237-245
    発行日: 2015年
    公開日: 2015/03/01
    DOIhttps://doi.org/10.1541/ieejias.135.237
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    Usually, a belt driving system has low resonance because of the elasticity of the timing belts, and the low resonance may degrade the response performance and positioning precision. This paper presents a robot joint that links the motor side to the load side via a timing belt. This can be regarded as a two-inertia system. This paper proposes a novel control method that uses multiple motors on both the motor side and load side of a MISO system. The proposed method achieves vibration suppression and phase stabilization simultaneously. The implementation is relatively simple because the design only requires two parameters. Simulations and experiments were performed to demonstrate the effectiveness of the proposed control system.
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