巻号一覧
12 巻 (1976)
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12 巻, 6 号
選択された号の論文の21件中1～21を表示しています
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小林 正明, 大沢 寿, 森永 規彦, 滑川 敏彦1976 年 12 巻 6 号 p. 613-618
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with the problems of measuring the mean frequency and the mean power of a zero-mean, stationary, narrowband Gaussian random signal in the presence of additive Gaussian noise.
An experimental mean frequency measurement system using correlation detection is constructed for the purpose of obtaining practical characteristics. The average output and the output signal-to-noise ratio of the system obtained by experiment are compared with the theoretical values.
A new method for measuring the mean power is also described and analyzed. The new method utilizes the mean frequency measurement system, and the mean power of a Gaussian random signal is determined using a reference sine wave. The results of the theoretical analysis on this method are supporting by experiment.抄録全体を表示PDF形式でダウンロード (1337K) -
真野 和生, 大野 修治, 岩井 善太1976 年 12 巻 6 号 p. 619-624
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a design method of model reference adaptive control systems (MRACS) with inaccessible states using Liapunov's direct method is described.
First we introduce an error equation which governs a motion of the difference between the plant states and the model states. Then a full order observer is applied for thus obtained error equation, and the adaptive law is constructed by using the outputs of the observer. Stability of the whole MRACS is guaranteed as seen by applying the eventual stability theorem given by LaSalle and Rath in 1964.
The above mentioned MRACS problems have already been treated by Ohta (1974) from the point view of Popov's hyperstability theorem. But the condition obtained by him is too restrictive, so that it seems to be difficult to apply his method to general MRACS with inaccessible states. Such problems are also examined to compare Ohta's method with our method proposed here.抄録全体を表示PDF形式でダウンロード (771K) -
原 辰次, 古田 勝久1976 年 12 巻 6 号 p. 625-631
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThis paper considers a state observer for a bilinear system. The estimation error of the observer given by this paper is independent of the input, so it can be designed independently of the input.
A standard form of a bilinear system having a state observer is given and the necessary and sufficient condition for the existence of a state observer is obtained. Also a standard form of a state observer is given and the design procedure of this observer is presented. The observer of a DC-motor is designed as an example.抄録全体を表示PDF形式でダウンロード (812K) -
嘉納 秀明1976 年 12 巻 6 号 p. 632-636
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーIn this paper approximate models by the method of weighted residuals (MWR) are given for mono-tubular, parallel, counter and multipass heat exchangers the mathematical models of which are described by the hyperbolic partial differential equations. In a frequency domain study the MWR compares favorably with a finite difference model method in that the results of MWR are accurate and require less computation time. Also, comparison between poles and zeros of MWR models and exact ones shows that approximate poles and zeros do not necessarily approximate only those of the original system near the origin.
Besides the frequency domain the comparison is made by the stability limit of the PI-feedback controled system, where the difference between the exact solution and an approximate one appears clearly. It is shown that the finite difference model with a considerable number of divisions estimates too large a stable area, while MWR models with less number of expansions give a good estimation of the stability limit.抄録全体を表示PDF形式でダウンロード (603K) -
池田 雅夫, 太田 順1976 年 12 巻 6 号 p. 637-641
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThis paper considers the problem of stabilizing a linear time-invariant system with time delay
x(t)=A0x(t)+A1x(t-h)+Bu(t), h>0.
The object is to find a sufficient condition for the system to be stabilizable by means of linear feedback of x(t), i.e.,
u(t)=Kx(t).
The result is as follows. If (i) (A0, B) is a completely controllable pair and (ii) the columns of A1 can be represented as linear combinations of columns of B, then the degree of stability of the closed loop system can be specified arbitrarily.
The stabilizing feedback control law stated in this paper has the merit that the feedback can be constructed without the precise knowledge of the delay time (It is enough to know its upper bound).抄録全体を表示PDF形式でダウンロード (529K) -
田島 耕治, 小山 昭一, 三浦 良一1976 年 12 巻 6 号 p. 642-646
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーA new method is presented for identifying the controllable and observable part of a multiinput multi-output system from measurement of the input-output signals contaminated with noises. The pulse transfer function matrix is estimated using a vector input-output equation of an autoregressive-moving average type. The minimal realisation of the system is given by the Ho-Kalman's algorithm.
The Markov parameters are used to determine the degree of the minimal polynomial of the system matrix and the minimal order of the system.抄録全体を表示PDF形式でダウンロード (605K) -
田村 坦之1976 年 12 巻 6 号 p. 647-652
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThis paper discusses an optimal control theory-discrete maximum principle-for distributed-lag models. The system equation is described by a multidimensional nonlinear difference equation of high-order. A Hamiltonian for this model is newly defined in this paper, and the discrete maximum principle is shown in terms of this Hamiltonian. The discrete maximum principle is proved by the theory of mathematical programming (Kuhn-Tucker Theorem). An economic interpretation for the adjoint variables and the Hamiltonian is clearly shown. Finally, it is shown that the gradient vector of the objective function with respect to the control variables is equal to the gradient vector of the Hamiltonian with respect to the control variables.抄録全体を表示PDF形式でダウンロード (694K) -
随伴系の切換面を利用する方法西村 行雄1976 年 12 巻 6 号 p. 653-658
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with an interative procedure for solving the time-optimal control problem of linear dynamical systems.
First, a switching surface of adjoint vector is defined. It is shown that the optimal control u*(t1) at the time instant t=t1 is determined by the optimal adjoint vector P*π on that surface. By using u* (t1) throughout the next Δt sec. and repeating the same procedure, the suboptimal control u(t), 0≤t≤tf, can be estimated step by step. The method to improve this technique is discussed.
Finally, several numerical examples are shown. Some of them are concerned with the off-line computation of an optimal control. Another example is concerned with a simulation of suboptimal feedback control system.抄録全体を表示PDF形式でダウンロード (700K) -
砂原 善文, 池田 豊, 相原 伸一, 明石 一1976 年 12 巻 6 号 p. 659-665
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーRecognizing that the cost of telemetering observed data is getting remarkably expensive recently and that unexpected troubles in observation channels frequently occur, we have set twofold objective of this paper: (1) to present a feasible technique for system parameter identification under few observation data and (2) to derive systematic methods for the coupled scheme of system state and parameter estimation of stochastic systems under scanty data.
For the purpose of supporting the theoretical aspect developed here, results of simulation studies are also demonstrated.抄録全体を表示PDF形式でダウンロード (684K) -
砂原 善文, 大住 晃, 立森 正史1976 年 12 巻 6 号 p. 666-673
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to present a feasible strategy of adaptive control for a class of linear stochastic systems whose dynamics are not completely known. The system considered is modeled by an Itô stochastic differential equation with unknown parameters. The principal line of approach is to establish a suboptimal control by a new concept, the feasible-dynamic-programming-feedback adaptive control, which plays a joint role of learning and control. The role of learning is to generate information about the unknown system parameters, and the role of control is to realize a suboptimal control.
In order to emphasize the feasibility of the present method, an illustrative example is developed. It is shown that the present method saves computation time and computer storage and that the suboptimal control scheme obtained shows a good performance which is close to that of the optimal control. This method is compared with another method of adaptive control.抄録全体を表示PDF形式でダウンロード (891K) -
小亀 英己1976 年 12 巻 6 号 p. 674-680
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーA stochastic optimal problem of the regulator type is considered, where the stopping time of the process is a random variable to be selected in addition to control variables.
We rigorously derived a nonlinear equation which is satisfied by the optimum cost function. Since this equation has not a unique solution in general, computing algorithms for the optimum cost function are concerned with. With the aid of the optimal stopping theory, the optimum cost function is characterized as the maximal or minimal solution of the equation under certain conditions. And on this basis, it is pointed out that a recurrent equation generates a converging series to the desired function when some initial function is adopted.
A linear-quadratic-Gaussian case is discussed as an example.抄録全体を表示PDF形式でダウンロード (894K) -
寺野 寿郎, クワン グエンホン1976 年 12 巻 6 号 p. 681-686
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThe macroscopic structures of large scale systems are conveniently expressed with directed graphs. But it is still hard to understand the essential points if the graphs are too much complex. One of the best ways of understanding a complex system is to decompose it into some subsystems and to study the interrelation among them. Though many algorithms (4)∼(6) have been suggested for the decomposition of non-strongly connected graphs, there is no effective way for strongly connected graphs except Steward's method7). Steward's method suggested for solving large scale simultaneous equations is not necessarily suitable for clustering strongly connected graphs.
In this paper, the authors suggest a new algorithm of decomposition of strongly connected graphs. Its principle is to make the graph non-strongly connected by eliminating a few bottle neck arcs. The grade of bottle neck of any arc is represented by an index that is the number of the shortest paths going though the arc. The shortest paths are the routes which connect any couples of nodes in a graph with the minimum number of arcs. If the index of an arc is large, the structure of the graph must be changed greatly when the arc is eliminated. Therefore, we can change a strongly connected graph into a non-strongly connected one by elimating some of the bottle neck arcs and also find a hierarchy structure consisting of few numbers of subsystems by using ordinary methods. After that the eliminated arcs are retouched and the decomposition is completed.
This method is applied to two examples, one of which is the procedure of solving a large scale simultaneous equations and another is the identification of the structure of complex urban social problems. The results are quite satisfactory.抄録全体を表示PDF形式でダウンロード (796K) -
野崎 武敏1976 年 12 巻 6 号 p. 687-693
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThis automatic steering system of an automobile has two remarkable features: (1) a course deviation at some distance ahead of the automobile is detected, (2) the steering angle is controlled in proportion to the course deviation. This paper describes how three parameters, i.e. L, detecting distance of the course deviation, ka, the gain constant of the proportional control and V, the vehicle speed (under 30km/h), affect on the characteristics of the system. The conclusions are as follows. (1) This system is stable for L over some region when ka is smaller than a certain critical value determined by V. (2) The stable region of the system becomes nallow with the increase of V. Practical tests of the system have been performed giving the reference course a step and a straight configuration on the road surface. The tests have shown the possibility of the automatic automobile steering using the information of a course deviation at some distance ahead of the automobile.抄録全体を表示PDF形式でダウンロード (1514K) -
荒石 潔, 加野 元1976 年 12 巻 6 号 p. 694-700
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーA pulsed-wire anemometer was developed for low velocity air flow down to 0.2m/s, which consists of a pulsed heating wire and two sensor wires, both being set down-stream. The current of the pulsed wire is electronically controlled so that a tracer of heated air has a spatially symmetric temperature distribution particularly around the maximum-temperature point when observed from the moving coordinate system. The velocity is detected from the time delay given by the maximum temperatures between the two sensor wires. This method is considered as a developed form of the pulsed-wire method originally informed by Bauer et al. or a developed form of the stationary heated-Wake metnhod by Kovasznay et al.
Application of Bauer's method to the low velocity flow faces the difficulties caused by the variation of temperature distribution in the heated tracer due to the thermal diffusion, the error in detecting the moving tracer with a varying temperature distribution at the two separated-fixed points, and the time delay of detecting due to the heat capacity of the sensor. These difficulties were solved by the use of controlled heating current and the detection of the maximum, temperatures by two sensors.
The waveform of the heating current pulse was theoretically and numerically analyzed in order to obtain heated tracer air With a symmetric temperature distribution at and above half the maximum temperature. Experimental investigation was made in the air flow using a wind tunnel of which the cross section is 70×140mm. The velocity investigated by this method ranges from 0.2m/s to 1.2m/s. Compared with the differential pulsed-wire method by Bradbury et al., the proposed method was shown to extend the measurement capability in the low velocity range.抄録全体を表示PDF形式でダウンロード (2588K) -
渡辺 紀之, 小宮 勤一, 内海 秀雄, 勝又 照久1976 年 12 巻 6 号 p. 701-705
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThe critical nozzle is used as standard in gas flow rate measurement. In this usage, the discharge coefficient of the nozzle must be calibrated before hand. To determine the discharge coefficient and to calibrate a flow meter, it is necessary that the nozzle has a large unchoking back-pressure ratio.
This paper describes the effect of the nozzle profile on the unchoking back-pressure ratio by a qualitative analysis based on the Laval nozzle theory. The following results are obtained.
1) The unchoking back-pressure ratio is increased with the decrement of the divergent included angle at a fixed divergent to throat diameter ratio and also with the increment of that ratio at a fixed angle.
2) A relation between the Reynolds number and the unchoking back-pressure ratio is obtained for geometrically similar nozzle.抄録全体を表示PDF形式でダウンロード (1450K) -
粟村 直文, 中村 勉司1976 年 12 巻 6 号 p. 706-710
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーA new high efficiency piston-type meter prover as a standard flowmeter has been developed.
The specifications are as follows.
1) Cylinder: The inside diameter of steel cylinder is finished 700.13±0.02mm.
2) Piston: Two self seal packings, oil ring and teflon ring for supporting piston are wound outside the steel piston.
3) Capacity: About 0.5m3.
4) Actuator: The piston is driven by a thyrister controlled moter and a precision ball screw.
5) Effective range: 0.2∼80m3/h.
6) Indicator: Angular displacement of driving gear is directed by a rotary encorder and the flow rate or the total volume is indicated digitally.
7) Accuracy: About 0.03%.
8) Resolution: 6.6×10-6m3.
Compared with a conventional type meter prover, merits of the new device are as follows.
9) A large class of gases or liquids are acceptable for calibration.
10) Temperature control and measurement are easy, so that the error due to unstable is very small.
11) The calibration of a flowmeter such as that of Kármáns vortex type can be performed by this device with a high accuracy, as the flow rate is very stable throughout the full range.
12) A large capacity displacement meter can be also calibrated with a high accuracy by this prover.抄録全体を表示PDF形式でダウンロード (1189K) -
松本 幸生1976 年 12 巻 6 号 p. 711-718
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThe author previously presented a method of eliminating undesirable width of characteristic values such as the amplitude ratio and the phase shift peculiar to the former analyzing methods by taking into consideration the heat exchange between fluid and wall of transmission line. To facilitate the description of dynamic characteristics, however, the fundamental equations were too much simplified as exemplified by the assumption of one-dimensional flow in the line.
Here, the basic differential equations are given by the velocity and temperature distribution of the fluid in a cross-section of the transmission line and the dynamic characteristics are analyzed by the above-mentioned method.
Frequency characteristics derived from this method are compared with the experimental results and a good agreement have been obtained.抄録全体を表示PDF形式でダウンロード (875K) -
泉 照之1976 年 12 巻 6 号 p. 719-724
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a universal random signal generator capable of generating differently distributed random signals such as the uniform distribution and the normal distribution with a single apparatus.
This generator is composed of two essential parts: The first is shift register whose state represented by a vector a is varied irregularly by transmitting the sequence of binary random numbers. The second is the weighted adder which carries out an inner product of the vector a and a weight vector w.
It is theoretically suggested that the probability density and the frequency characteristic of the resulting random signal are related to the weight vector and the probability that ‘1’ of the binary random numbers will happen. And the several weight vectors to generate the random signal having the typical probability density are obtained.
The experiments show that the theoretical suggestion is sound, and that the generator whose weights are properly adjusted generates the random signal having a desired probability density.抄録全体を表示PDF形式でダウンロード (694K) -
富田 英雄, 沢 俊裕, 金 東海, 三山 醇1976 年 12 巻 6 号 p. 725-730
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーFor stable driving of pulse motors, it is important to devise how to diminish the commutating time of the exciting current, i.e. to release the accumlated magnetic energy in the exciting winding of a pulse motor during commutation.
To solve the problem, the authors developed a kind of controlled current type inverter, which is thought as most suitable for driving circuits of pulse motors. The inverter consists of choppers, thyristors and a pair of commutation reactors having mutual coupling. Such inverter is especially called Coupled Reactor Commutating Inverter (CRCI), because during commutation, the stored energy is released to another exciting winding of the motor by the effect of the commutation reactors inserted between the branches of the inverter circuit.
In addition, this inverter can be used in regenerative braking, which is a novel driving technique.
Applying the above-mentioned inverter for a two-phase hyblid type pulse motor, superior characteristics concerning torque and efficiency were obtaind under high driving frequency.
The present paper deals with analysis of the inverter circuit applied to the pulse motor, and with the experimental characteristics on sluing and regenerative braking of the motor.抄録全体を表示PDF形式でダウンロード (1746K) -
服部 正行, 高梨 良一, 安濃 恒友1976 年 12 巻 6 号 p. 731-736
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーA position control system with a small velocity input often shows a jerky output response, which is usually called a “jerking motion” or a “stick-slip motion”. This phenomenon has been studied by several authors, and has been explained that it is induced by the negative slope characteristic of the friction in a lower speed range. But the friction characteristic in such a speed has not been well defined, and it seems that a quantitative investigation for this phenomenon has not been made.
On the other hand, the position control system, which has the torque varying with angular position, often shows a jerky output response with respect to a small velocity input, too. In this paper, such a phenomenon is regarded as the jerking motion, and the limiting conditions of the jerking motion are investigated by computer simulation.
As a result, it becomes clear that the limiting conditions of the jerking motion are shown with complicated curves of the system parameters, and that, with respect to the magnitude of the velocity inputs, there may be a number of ranges where the jerking motion is induced. These results are remarkably different from the usual results. In order to confirm these results, a position control servo model is experimented. The experimental results agreee very well with the simulation results.抄録全体を表示PDF形式でダウンロード (755K) -
諸岡 泰男, 谷藤 真也, 桜井 孝員, 山下 了也1976 年 12 巻 6 号 p. 737-742
発行日: 1976/12/30
公開日: 2009/03/27
ジャーナル フリーIn hot rolling such as that in a hot strip mill, a section mill or a bar mill, the tandem rolling, in which a slab is rolled at the same time by more than two stands, is put into operation mainly for the improvement of productivity, quality and yield. For the purpose of the improvement of the gauge accuracy of the strip width, the inter-stand tension should be controlled at zero or near zero value because the strip elasticity band is narrow. This slight tension control is called the “Tension Free Control”. The main technical problem of such control is to detect the inter-stand tension without touching the strip. The tension measurement method shown in this paper is a method which, uses the motor torque and the rolling force of each stand. The inter-stand tension is calculated from the difference of the G/P ratios of two neighbering stands, where G/P ratio is the ratio of the motor torque to the rolling force of the stand.
By this method, the inter-stand tension is detected with an accuracy of 1t/°C in case the strip temperature varies. The measuring error is one half that of the convenuional methods which estimates the tension from the motor torque and the rolling force of a stand. Consequently, when controlling the inter-stand tension with this method, the controlled error was less than 5t. Experimenting with a strip mill in operation, the effect of the tension on the gauge of a strip was shown to be 0.05mm/t of the thickness, and 0.5mm/t of the width. Therefore, it became clear that tension free control is an effective gauge control.抄録全体を表示PDF形式でダウンロード (755K)
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