巻号一覧
13 巻, 1 号
選択された号の論文の20件中1～20を表示しています
- |<
- <
- 1
- >
- >|
-
美多 勉, 酒美 保夫1977 年 13 巻 1 号 p. 1-6
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーIn the design of control systems and measuring instruments, an input estimator is required if the disturbance input is inaccessible.
This input estimator becomes an inverse system as is well-known if the disturbance input is completely unknown. This is derived from the theory of the unknown input observer which estimates the whole state variables of plants with completely unknown inputs. However this inverse system requires several differentiators and its estimating speed can not be set arbitrarily since the poles become the zeros of the plant.
Assuming that the disturbance input is given by the polynomial of order p with respect to time, Meditich et al. have introduced the p-observer which estimates the state variables of the plant. This paper derives conditions under which the p-observer estimates only the disturbance input and shows the following results.
1) The p-observer requires no differentiators and its poles can be assigned arbitrarily. Using the transfer function from the disturbance input to its estimate, the role of this p-observer is clarified in view of the classical control theory.
2) Assuming that the swift modes of the plant are included in the observer, a new input estimator called a quasi-observer is proposed such that its dynamical order is far less than the minimal one obtained from the observer theory.抄録全体を表示PDF形式でダウンロード (679K) -
小林 博明, 花房 秀郎, 吉川 恒夫1977 年 13 巻 1 号 p. 7-13
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーIn this paper, the controllability of decentralized control systems is considered. Stations of a decentralized control system can use their control inputs not only to control the system actually, but also to exchange their information one another through the state space. Therefore it is important to take account of such co-operation mode explicitly when we consider the controllability of decentralized control systems.
The controllability is defined as follows in this paper: A decentralized control system is controllable if an arbitrary initial state can be transferred to the origin of the state space in a finite time interval by the stations with decentralized control laws.
First of all, a pseudo-order relation is introduced among the stations, and the largest observable subspace that each station can obtain with the above-mentioned co-operation mode is given explicitly. Then the largest reachable observable subspace that each station can control by co-operation with other stations is given. Based upon these results, a necessary and sufficient condition of the controllability is derived. The condition is formulated with Hanlek matrices.抄録全体を表示PDF形式でダウンロード (890K) -
赤池法のオンライン化田村 坦之, 川口 辰郎1977 年 13 巻 1 号 p. 14-20
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーVarious methods for statistical system identification have been proposed. Among them, the Akaike's method by means of an autoregressive (AR) model is especially useful and practical due to its clear-cut theory and simple algorithm of computation. Based on the Akaike's one-shot identification method we develop a method of on-line recursive system identification for multidimensional systems. Since this algorithm includes the procedure of mean deletion, the stationary time series can directly be handled. By using this method, a method of identifying the order and the coefficients of a one-dimensional distributed-lag model is also shown where it is not necessary to estimate other known parameters. This method is applied to the estimation of the order and the coefficients in the water quality model with distributed-lag in a river.抄録全体を表示PDF形式でダウンロード (849K) -
雛元 孝夫, 西中 裕樹, 前川 禎男1977 年 13 巻 1 号 p. 21-27
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーThis paper treats the identification problem of multivariable bilinear systems. The identification procedure is the following: at first, the external description model is derived from the zero-state response of the systems, then the weighted sequence matrices in the model are estimated through the least mean-square method. Next, the internal description model is realized by using the previously estimated matrices.
However, since we must use the estimated weighted sequence matrices instead of the true weighted sequence matrices in the case of solving the realization problem, it is generally difficult to realize the external description model via an equivalent internal description model. Therefore, both a method to overcome this difficulty and an actual algorithm of minimal bilinear realizations are proposed in this paper. The realization algorithm in this paper is simpler than the algorithm given by A. Isidori.
The main feature of an identification method in this paper will be that we need not use the state-variables of the identified bilinear system in the case of identifing an bilinear system.抄録全体を表示PDF形式でダウンロード (936K) -
安西 祐一郎, 林 喜男1977 年 13 巻 1 号 p. 28-34
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーIf each car in an urban road network is equipped with a device to communicate with the control center, a route guidance system which takes into account each driver's objective can be constructed for easing up traffic congestion.
This paper deals with a dynamic assignment problem of traffic flows for such a system.
It is shown that, based on the observed data of actual traffic flows, the problem may be formulated as a nonlinear optimal control problem may with constraints.
Then, two methods for approximate solutions are proposed; one is an application of a gradient method for optimal control problems with constraints, and another is a combination of linear approximation of the state equation and penalization of constraints, which constructs a problem similar to a linear tracking problem. The two methods are compared by solving an example problem.
The example shows that the gradient method provides a better value of performance index than the linear approximation method. However, the latter may also provide a good result if short time spans of assignment are connected in series.抄録全体を表示PDF形式でダウンロード (945K) -
石松 隆和, 毛利 彰, 高田 勝1977 年 13 巻 1 号 p. 35-40
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with the determination of optimal control laws for a linear time-varying system having the possibility of failure. When the system fails, it will take some time for repair before resuming its normal duty. Here we assume the duration of repair as a random variable with a possibility distribution function.
Some results are obtained for the following cases.
1) The state (failed or renewed) of the system can be continuously monitored or inspected.
2) The state of the system cannot be monitored or inspected.
For the first case the optimal solution can be obtained by extending the results already known. The solution, however, is easily implementable only in case the probability function is exponential. So here we propose a method which gives implementable control laws in more general cases.
For the second case the optimal solution can be obtained by a two-level method.抄録全体を表示PDF形式でダウンロード (664K) -
佐藤 光男, 阿部 健一, 竹田 宏1977 年 13 巻 1 号 p. 41-46
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with an approach to Markovian decision processes with discounted rewards in which the transition probabilities are unknown. The processes are assumed to be finite-state, discrete-time and stationary. The decision rules presented in the paper give a policy in estimating the transition probabilities successively from the viewpoint of the dual control, and the policy leads to an optimal policy. The decision processes may be regarded as a model of learning processes.
To begin with, the assurance set with level γ-S(γ), which will represent uncertainty of the transition probability matrix, is introduced, and S(γ) is computed from the estimation of transition probability matrix each time. Then, two learning algorithms based on the S(γ) are considered.
In the first algorithm, a max-max optimal policy based on S(γ) is used every time under the fixed γ. It is shown that the algorithm converges to a policy which is regarded to be optimal with a certain probability related to γ. The second algorithm, in which γ is increased successively, uses a probabilistic policy for a more efficient estimation, while the first algorithm uses a deterministic policy. The second algorithm leads to an optimal policy in the sense that the probability of using the optimal policy converges to one.
Finally, the paper discusses a simplification of the second algorithm.抄録全体を表示PDF形式でダウンロード (820K) -
森田 矢次郎, 小林 彬, 二見 茂1977 年 13 巻 1 号 p. 47-52
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーThe method introduced in this paper follows the principle of the zero-derivative method to measure the temperature of a surface accurately. An elaborate innovation has been materialized in the measuring system manufactured and experimented by the authors. The measuring system enables us to measure the temperature of the surface only by a single contact of the sensor with the surface. The data obtained by the contact are processed through the data-handling circuit automatically. The sensor is an assembly of four sheathed thermocouples forming a sensing area of 4×8mm2. Two of the thermocouples are heated and simultaneously the other two are cooled by the separate base plates whose temperatures are controlled by Peltier elements. While the sensor is brought in contact with the measured surface, the transient temperatures of the hot and cold thermocouples are recorded and processed for computation in the specially designed data handling system. The data handling includes differentiation, peak-holding, taking a least square and displaying the measured surface temperature.
The measuring system has been put to test by measuring the known surface temperature. A good repeatability and an accuracy of ±0.1°C have been confirmed. The system has been applied to measure the temperature of human skin. The comparison between the values measured by this method and an infrared radiometer shows an interesting result that the emissivity of human skin is not 1.0 as generally assumed, but 0.6-0.7.
The paper will describe the measuring system, the instrumentation, the experimental setup and the test data.抄録全体を表示PDF形式でダウンロード (915K) -
地震動垂直成分の計測冨沢 豁, 黒須 茂1977 年 13 巻 1 号 p. 53-57
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーTo record long period seismological movements, we proposed in the previous paper a new instrument as a precise seismometer with a dynamic long period pendulum using gyroscope and examined the various dynamical characteristics of the system subject to horizontal seismic movements.
In this paper, we consider the observation system to record the vertical component of seismic movements. In this system, we utilize a quasi-TDF gyroscope (transducer) in addition to an ordinary mass-spring system. The vertical seismological movement transferred to the torque causes the gyro-axis to precess about the perpendicular axis, and the output signal (angular displacement or velocity) is measured by a measuring instrument.
Topics in this paper are summarized as follows: 1) We analyze dynamical equations of a transducer theoretically when seismic accelerations are applied to it. And we examine the various dynamical characteristics as a seismometer. 2) We present the procedure for designing this system for practical use and provide numerical examples. 3) A digital simulation for the system is carried out and satisfactory results are obtained. 4) We present technical considerations for future development.抄録全体を表示PDF形式でダウンロード (675K) -
豊沢 陽二, 町田 兼一1977 年 13 巻 1 号 p. 58-63
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーTaking into consideration the slippage in the boundary between a solid surface and a fluid flowing over it, the flow through an annulus is analysed.
A measurement method of the slippage is proposed by the authors. The thrust acting on the movable core supported on the adjacent fixed cores in the annulus, is measured to obtain the slippage independently of the viscosity coefficient of the fluid. In the investigation of the flow in the annuli whose walls had been treated with slippery material, the measurement method provided a conclusive check to measure the slippage.抄録全体を表示PDF形式でダウンロード (721K) -
稲荷 隆彦, 亀井 光仁1977 年 13 巻 1 号 p. 64-68
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーWhen a laser beam illuminates a wire with an inclined angle from its running direction. a diffraction pattern like a ring appeares around the wire. In scanning with the laser beam across the wire, the diffraction pattern like a ring rotates around the wire if the diameter of the wire is small enough. If the scanned laser beam illuminates the defect on the surface of the wire, the shape of the diffraction pattern is disturbed. The defect, therefore, is detected by photoelectric detection of the disturbance of the pattern using a spatial filter.
The phenomenon described above led the authors to develop an on-line automatic surface inspection system for the wire. Because this system has a new ability we have never had before, its application seems promising from the point of view of automatic inspection.
In this paper, the principle of the automatic inspection system, the outline of our equipment for test, and the discussion for the magnitude of the disturbance of the pattern by the surface defects are described.抄録全体を表示PDF形式でダウンロード (2518K) -
和田 力, 清水 顕, 高木 実1977 年 13 巻 1 号 p. 69-75
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーThe authers have systematically analaized the reattached jet flow in a wall reattachment fluidic device by means of experiments and theories which are fluid-dynamically reasonable, though may not be rigorous.
From a view point of the design of wall reattachment device, we begin with the summary of our results obtained. Then, discussing the possibility of a direct design in the sense that it is independent of an experimental trial and error, we make clear some points to be further investigated. Finally, it is shown that the device is directly designable when some important quantities of static characteristics are given as the performance indexes.抄録全体を表示PDF形式でダウンロード (958K) -
西川 学, 一條 文二郎1977 年 13 巻 1 号 p. 76-81
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーThis paper describes the construction, principle, and features of a precise variable capacitor with which it is possible to change the capacitance from 10-6pF to 10-2pF.
This precise variable capacitor, capable of obtaining a very small capacitance change, is different in its construction from an ordinary mechanical capacitor, and the merit of this capacitor is that it consists of multilayer disks of silica glass.
Using this structure, the variation of capacitance between two parallel plate electrode is reduced to an extremely small value of capacitance chage.
For example, in our experiments, a variation of 1×10-6pF was obtained by the displacement of 10μm of the earth-side movable electrode. Other merits of this capacitor are as follows.
No.1 The magnitude of capacitance change is determined by selecting the constant of glass disk.
No.2 The total dielectric losses of this capacitor is negligibly small.
No.3 This can be used in the very high freaquency range (1MHz∼300MHz), because no lead wires are needed in its construction.
This can also be applied for the measurement of dielectric properties of very thin film (several hundred Å) and for precise measurement of relative permitivity of various kinds of gases.抄録全体を表示PDF形式でダウンロード (2437K) -
稲荷 隆彦, 高嶋 和夫, 北原 照義, 大道 〓男1977 年 13 巻 1 号 p. 82-86
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーNon contact measurement of surface velocity of material such as metal was made possible by the use of movement of the speckle patterns produced by diffraction of coherent light on the surface structure. The movement of the speckle patterns is due to the movement of the surface. Some papers have treated partially this principle supported only by laboratory experiment, but no instrument has been put to a practical use.
We developed the practical velocimeter with high accuracy. In this paper the characteristics is relation to the accuracy, that is, the frequency shift of the output signal for curved surfaces, and the half-width of the frequency spectrum of the signal due to the optical structure, are mainly treated. The half-width depends not only on the spot area of the illuminated surface, but on the velocity distribution of the speckle patterns on the observed plane.
Experimental results showing the accuracy of our instrument in the laboratory and fieldtests on a cold rolling line are described in this paper. At its best an accuracy of better than ±0.15% was obtained for normal steel surfaces running with high velocity and without vibrations or waves. The accuracy is limitted by the velocity to be measured and the conditions of users. The accuracy falls for a lower velocity, so it becomes about ±0.5% when the velocity is about 40m/min. The range of velocity of our instrument is about 20∼2000m/min.抄録全体を表示PDF形式でダウンロード (689K) -
ビデオ・カメラを使用した平面図形の重心検出中野 道雄, 小林 史典1977 年 13 巻 1 号 p. 87-92
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーA method for measuring the two-dimensional position of the center of gravity of a plane figure is described.
Its principle consists in repetitive determinations of the center of gravity of an object as in balancing a rod. As this method utilizes the phenomenon that the center of gravity of an object is the null point when it is brought into equilibrium, it may be designated a null method.
The system is implemented through the use of a video camera as a sensor and an analog circuit as a processor of the video signal. The center of gravity of an object contrasted against the background is detected in voltage. The major devices involved in the processor are around fifteen ICs consisting of operational amplifiers, analog gates, dividers, comparators, and logic SSIs.
The closed loop configuration of the circuit dictated by the null method is effective in the elimination of errors resulting from simple design and crude elements, thus achieving high accuracy of measurement. Having a linear characteristic and being independent of the properties of any object to be measured, the loop makes a rapid response beyond the reach of the conventional null methods. Another prominent feature of the system is high noise immunity afforded by the integrator used in the signal path.
Experiments performed with an ITV camera demonstrated an overall accuracy of position of ±0.5% FS and a response time in the order of 30ms.抄録全体を表示PDF形式でダウンロード (1981K) -
恩田 昌彦, 鈴木 三十三, 大島 康次郎1977 年 13 巻 1 号 p. 93-98
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーThis paper deals with a nonlinear optimization of electrohydraulic servomechanism. High-speed accurate positioning servomechanisms have several potential application fields such as those of photographic typesetting machines and automatic assembling or testing machines for semiconductor manufacturing.
In this report an experimental example of optimal responses in an electrohydraulic servomechanism as high-speed accurate positioner is presented. This consists of two servovalves with different nonlinear flow gains, a linear actuator, an inertial load, an optoelectronic displacement detector, a velocity transducer, and an electric control circuit. This device is so designed as to carry only a few kilogram load within a range of 6cm. To get quick and precise responses we have adopted three control modes: the full acceleration mode followed by the mode of controlled closure of each valve and, finally, the negative feedback control mode free from nonlinear instability.
Optimal switching curves from acceleration to deceleration were empirically obtained under reasonably stable conditions. We have thus realized 20∼30msec positioning time with ±5 micrometer accuracy.抄録全体を表示PDF形式でダウンロード (3557K) -
1977 年 13 巻 1 号 p. 99-100
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (306K) -
1977 年 13 巻 1 号 p. 103a
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (88K) -
1977 年 13 巻 1 号 p. 103b
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (88K) -
1977 年 13 巻 1 号 p. 103c
発行日: 1977年
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (88K)
- |<
- <
- 1
- >
- >|