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Volume 16, Issue 1
Displaying 1-23 of 23 articles from this issue
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Hisato KOBAYASHI, Etsujiro SHIMEMURA1980 Volume 16 Issue 1 Pages 1-5
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIt is known that if the linearized model of a nonlinear system is controllable then the original nonlinear system is also controllable near the origin. In this paper, we discuss the size of the null controllability region of a nonlinear system by means of a functional analysis under the condition that the linearized system is controllable at the origin, and derive the quantitative estimation for this size. As no extra assumption is added to the system except that the linearized system is controllable, this result can be applicable for a large class of nonlinear systems. When the null controllability region coincides with the whole of the state space, the system is completely controllable. Therefor, some sufficient controllability conditions are derived for nonlinear systems from this quantitative result.View full abstractDownload PDF (646K) -
Tsunehiro TAKEDA, Toshiyuki KITAMORI1980 Volume 16 Issue 1 Pages 6-13
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper concerns with the stability of the linear multi-input-output optimal tracking system (Sc*)1), when the open loop gain (μ) of a process changes. Roughly speaking, the following are proved.
(1) Any Sc* remains stable when μ increases.
(2) If the determinant (ρ) of the weighting matrix of the inputs in the quadratic performance function is very small, almost all the resulting Sc* become unstable, when μ decreases.
The above second statement suggests a new term called the conditional stability. It implies that Sc* should not be designed with too small ρ So, this paper also proposes an algorithm to choose proper ρ, considering the degree of stability. The algorithm is very important because it paves the way for systematical determination of the weighting matrices in the quadratic performance function, which are now determined by trial and error.
An example demonstrates an application of the above mentioned theorems and algorithm.View full abstractDownload PDF (1059K) -
Naoya KAWASAKI, Etsujiro SHIMEMURA1980 Volume 16 Issue 1 Pages 14-20
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we propose a simple method of constructing a linear state feedback law for a linear control system. This method yields a state feedback law by which only the imaginary parts of the eigenvalues of the system matrix are changed. Using this method with our design method, by which the real parts of the eigenvalues are changed, we can easily locate all eigenvalues of the closed loop system in the area desired for good response as well as for stability. Because of its simple rule in calculating a feedback gain, this method is especially powerful in the study of a high dimensional system, to which the pole assignment method is too complicated to apply.View full abstractDownload PDF (927K) -
Yasuhiko TAKAHARA, Bumpei NAKANO1980 Volume 16 Issue 1 Pages 21-27
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA complex large scale system is a central subject of systems engineering. However, there is no integrated theory for it partially because it has been treated on a specialized model built for a specific problem. This paper, in order to lay a foundation for a theory of a complexlarge scale system, introduces a general definition of a complex system in the framework of the general systems theory and characterizes an interaction which is one of the most basic concepts of a complex system.
This paper shows that every interaction consists of two primitive interactions, process and system interactions and that they have some unique representations. Models of complex systems are classified according to their types of interactions and it is shown as an application of the above analysis that this classification is relative to realization of a system, that is, a model can be transformed from one type into another without changing its significance by restructuring its input output pair.View full abstractDownload PDF (951K) -
Katsuhisa YAMAGUCHI, Jiro WAKABAYASHI1980 Volume 16 Issue 1 Pages 28-34
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we examine the applicability of the multivariable autoregressive data fitting (AR model) to the detection of flow anomaly in reactor cooling channels.
Experiments were carried out with an out-of-pile loop, through which Ar-water two-phase flow circulated in a steady state condition. Fluctuation signals observed by two pressure transducers as well as two pairs of void taps were sampled and analized, by using on-line computers. A computer code for data processing was developed under the guidance of the familiar AR model algorithm proposed by Akaike et al.. Still, the method of maximum likelihood estimation was adopted to determine the order of the AR model.
Power spectral densities produced by the AR model were contrasted with those calculated by the conventional method developed by Blackman-Tukey, that is a fast Fourier transform algorithm, to yeild good consistency between them. The AR model presents other useful information including one index named “Impulse Response Function” and anthor “Relative Power Contribution Rate”. The former index allows us to explain resonably the experimental results of pressure propagation characteristics. Using the latter index, on the other hand, we can get the spectra of noise source coherent to each variable. When those source spectra are assumed to be equal to the input disturbances of a linear theoretical model of the local flow boiling, the theoretically estimated power spectral densities are in fairly good agreement with the observed ones.
Following these studies, we can expect the applicability of the AR model to the detection and analysis of a flow anomaly, when the model is used with the practical idea of system identification proposed here.View full abstractDownload PDF (973K) -
Takayoshi NAKAMIZO, Nobuaki KOBAYASHI1980 Volume 16 Issue 1 Pages 35-41
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe problem is considered in this paper of finding the minimal order inverse system of a multivariable time-invariant linear dynamical system under the condition that the allowable number of ideal differentiators required in the inversion is specified. It is first shown that such inversion problem can be reduced to the problem of designing the linear function observer for an associated dynamical system. The minimal order of the inverse system for the multivariable case is uniquely determined by noting that it is essentially equivalent to the minimal order of the observer. Then the stability of the minimal order inverse system is carefully investigated, and it is also shown that the stable lower order inverse system can be readily constructed with the aid of the reduced order state observer design. Finally the minimal number of output differentiations required to realize the exact minimal order inverse system is given.View full abstractDownload PDF (865K) -
Takashi SOEDA, Toshio YOSHIMURA, Katsunobu KONISHI1980 Volume 16 Issue 1 Pages 42-48
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the problem of identifying parameters in single input-single output linear discrete-time systems where the output is corrupted by additive noise. A recursive identifier is developed by using the techniques of a linear approximation filter and by using the positive real transfer function introduced by Landau. The usage of the transfer function assures the convergence of the estimates of parameters and also improves the rate of their convergence. It is shown that a recursive maximum likelihood identifier arrives at the same form with the proposed identifier if its estimation model is corrected slightly. Numerical results obtained from digital simulation in a forth-order system are presented to illustrate the utility of the proposed identifier.View full abstractDownload PDF (781K) -
Katsuji UOSAKI1980 Volume 16 Issue 1 Pages 49-54
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA recursive argorithm of the stochastic approximation type is derived for estimation of the autoregressive parameters when the realizations of the AR time series cannot be observed directly but through some noise-corrupted linear observation system, whose gain is not necessarily known.
The proposed algorithm assures the theoretical convergence with probability one, and is applicable to a wide class of AR time series since no restriction about the type of the probability distribution is imposed.
Simulation studies confirm the good convergence property of the proposed algorithm and indicate that the convergence rate may be controlled by choosing a suitable selection probability included in the algorithm.View full abstractDownload PDF (672K) -
Aisuke KATAYAMA, Rin'nei WATANABE, Hideo TAMAMOTO1980 Volume 16 Issue 1 Pages 55-62
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new simple method of identification for linear discrete systems has been developed, which is based on Kalman's Hankel matrix H formed by Markov parameters of the system.
By input random sequences generated by a computer, input Hankel type matrix U is formed. Matrix Y which is the product of matrices U and H, that is Y=U×H, plays the crucial roles in this identification method, because useful properties are transferred from Matrix H.
The identification for system dimension can be implemented by upper left sub-matrixY'. If system dimension is n0, then Y' must be (2n0-1)by n0 matrix. After multiplying Y' by fundamental matrix chain Sn0-1, …, S2, S1 from the left, n0 by n0 matrix Y0 can be obtained, the rank of which is equal to the system dimension. Increasing n0 by one, the diagonalized matrix Y0' becomes singular, but the parameters of the denominator of the transfer function appear on the (n0+1)th column. So only n0 iterations are required to complete system identification.View full abstractDownload PDF (859K) -
Yasuchika MORI, Etsujiro SHIMEMURA1980 Volume 16 Issue 1 Pages 63-69
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a method of synthesizing suboptimal control by considering sensitivities for a class of linear stochastic discrete-time systems with distributed-delay. The well-known “minimal variance control law”, derived by Åström, for this type of optimal control problem, however, is liable to the fault that it wastes enormous control energy and can be extremely sensitive to the system parameter variation under certain circumstances. The waste and oversensitiveness could be interpreted as a consequence of the fact that the minimal variance control law has a feature of feedforward control and is supported by the pole-zero cancellation technique. To overcome these undesired and unpractical aspects, the authors propose in this paper, the “extended minimal variance control law” which keeps small not only the variance of output but also its sensitivity to the system parameter variation. This control law has a design parameter, giving a designer one degree of freedom to choose appropriately according to the design purpose. With increasing the value of this design parameter, it is shown that the variance of output increases and its sensitivity decreases. One method of choosing the optimal value of the design parameter to realize the desired performance is proposed. Finally numerical examples are shown to confirm the effectiveness of the proposed method.View full abstractDownload PDF (932K) -
Akio SUGIE, Hidenori KIMURA1980 Volume 16 Issue 1 Pages 70-76
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we consider the decentralized control system with two control stations. An algorithm of assigning closed-loop poles by decentralized output feedback is derived. The algorithm consists of two steps. First, a compensator for the first station is designed to assign some poles and make these poles uncontrollable from the other station. Next, a compensator for the second station is designed to assign the remaining poles.
This algorithm is applied to the stabilization of the system of the Coupled Inverted Pendulums (C.I.P.). In this system the pendulum is assumed to be controlled independently by its own controller. Two decentralized controllers are designed. The first one consists of two second order dynamic controllers one for each station. The second one consists of a static controller for the first station and a third order dynamic controller for the second station. Computer simulation and the experimental results of the C.I.P. response are shown in comparison with the response obtained with a centralized controller.View full abstractDownload PDF (821K) -
Kousuke KUMAMARU, Hiroyuki OGURA1980 Volume 16 Issue 1 Pages 77-83
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe aggregation method is effectively used in the control synthesis of large-scale linear systems to reduce requirement on the computer. It is essentially important for the synthesis of a satisfactory sub-optimal control to construct an appropriate aggregated model. In this paper, we propose a new criterion for selecting a proper aggregation matrix based on the projection error analysis. By introducing a projection operator, the projection error between the model and the original system is expressed by an explicit function of the aggregation matrix and the system dynamics. Then the aggregation matrix may be determined under the minimization of time-integration of mean square projection error weighted by the loss matrix of the system control performance. Our method seems to be more practical than the existing ones from the viewpoint of the computing labor and the model quality, since various establishable parameters are included in this criterion. Furthermore, we also investigate about the model confidence index, which represents the pre-estimate of the performance degradation due to the aggregation control compared with the optimal control. A numerical example for the gas-absorber system is considered to indicate the effectiveness of our method.View full abstractDownload PDF (964K) -
Recognition System by Means of Acoustic Reflection Pattern ModelYoshiki MORIYAMA, Yoji UMETANI, Akira HARADA1980 Volume 16 Issue 1 Pages 84-90
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe coastal area is expanded with the enforcement of 200 miles limit in territorial water. So it is important to utilize the shallow water space, and to take the resource and the energy out of the territorial water. In order to execute development projects, it is necessary to survey and analyze correctly and efficiently the wide area of submarine topography and geology.
This study aims at organizing a system for discriminating the Alluvium sediments into sludge, clay, silt, sand and pebble, and finally drawing a submarine geological profile by processing the sonoprobe data as automatically as possible. The present paper describes the method of recognition by means of an acoustic reflection pattern model. The authors make a model of the sound propagation in the sea and submarine sediments, on the basis of the geological and acoustical characteristics that experts discriminate in the sonoprobe data. The method of recognition by making the acoustic reflection pattern model in a number of layers and its comparison with the actual reflected waveform is shown. Besides, sound propagation characteristics of the sea water and sediments are obtained in a water tank experiment, and its data are considered for improving the model.View full abstractDownload PDF (936K) -
Control of Its Arm and GripperAkio NAGAI, Kozo MATSUSHIMA1980 Volume 16 Issue 1 Pages 91-97
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a fundamental study of remote manipulator system, to be applied to the assembling precise and small parts, the handling of medical samples in a culture cabinet and so on.
This system consists of a small and precise slave manipulator and a master manipulator of which the size is adapted to a human operator. Displacement of the master manipulator is reduced and transferred to the slave manipulator, and a small force acting on the slave manipulator is magnified and feed back to the master manipulator.
In this paper, the construction of the manipulators is explained and to take advantage of their manoeuvrability, new control methods of the master arm and the gripper are proposed. The usefulness of the methods are confirmed experimentally.View full abstractDownload PDF (2155K) -
Tokuji OKADA1980 Volume 16 Issue 1 Pages 98-104
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper treats a multi-degrees-of-freedom manipulator that is able to perform manual tasks for man. First, we propose a versatile multijointed finger that is composed of four links connected with revolute joints from a standpoint of easiness in controlling and designing. Control inputs that place the finger at the desired position with the desired orientation are obtained by solving a single polynominal equation of degree four. Second, the optimum direction of the fingers for manual task is determined from their structure and kinematics. The direction is important in the control stage of an arm part of a manipulator. Third, a general description about software system is presented with basic programs to control the manipulator. These programs have been implemented on the ETL object-handling system for the manual industry. Experimental results of nut-turning task are presented which verify a successful step toward the programmable automation of the manual task.View full abstractDownload PDF (2572K) -
Shujiro DOHTA, Kazumasa OHSAKA, Tsutomu WADA1980 Volume 16 Issue 1 Pages 105-111
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAssuming the two-dimensional flow, many investigators have studied experimentally and theoretically the jet attachment and the characteristics of wall-attachment fluidic device. However, for a small aspect ratio, few studies were found inspite of its practical usefulness. Jet attachment is strongly dependent upon the aspect ratio, that is, a decrease in the aspect ratio leads to an increase of the attachment distance. There is no theory to explain such a phenomenon precisely.
This paper presents the effects of aspect ratio on the static behaviour and the switching of an attached jet, and the applicability of the two-dimensional model to the fluidic device with a small aspect ratio. The results obtained can be summarized as follows: 1. The aspect ratio has no effect on the jet interaction of the main and control flow. There is no difference in the deflection angle and in the static pressure in the interaction area. 2. With the secondary flow coefficient proposed in the paper, the initiation, development and decay of the secondary flow in a bounded jet can be recognized easily. 3. When the attachment point enters the decay region, the attachment distance becomes longer because of the decrease of entrainment flow rate. 4. Applicability of the conventional two-dimensional model should be discussed not necessarily only from a viewpoint of two-dimensionality of the flow, but from a macroscopic standpoint by using an average. Applicable geometries of the fluidic device could be predicted by using a limiting distance decided by the secondary flow coefficient.View full abstractDownload PDF (1476K) -
Toshiyuki KITAMORI1980 Volume 16 Issue 1 Pages 112-117
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA design method will be useful if it calls for the minimum amount of knowledge about the controlled process, since identification of the state equation is not an easy task especially in the field of process control. From this point of view, the author previously developed a general design principle which allows one to design control systems based upon partial knowledge about controlled process dynamic characteristics.
The principle is firstly to represent the dynamic characteristics of the controlled object, the compensator and/or the controller, the control system, and the desired reference model by sequences of parameters, and secondly to match the control system parameters to the desired ones from the beginning of the sequence to so far as some parameters remain adjustable.
The principle has been successfully applied to single-input single-output continuous-time and discrete-time control systems, taking the sequence of the moments of the impulse response for the representing sequence of parameters.
In this paper a design formula for I-PD type decoupled control systems is derived according to the principle. The system to be designed here is to meet the following requirements: (C1) Each decoupled subsystem has zero steady-state error.
(C2) Each decoupled subsystem has adequate damping characteristics.
(C3) Each decoupled subsystem has the shortest rise-time on satisfying (C1) and (C2).
(C4) The remnant coupling due to imperfect decoupling among the subsystems is as small as possible.
The formula obtained is quite simple and is direct extention from the single-input single-output case. It should be stressed that the formula has a kind of matching property, so that the simpler the decoupling and controlling mode is with small number of adjustable parameters, the less the number of controlled process parameters to be known becomes.
Some response curves of a designed control system are demonstrated which show the effectiveness of the method.View full abstractDownload PDF (821K) -
Hiroji MIKAWA, Yomei KATO, Kunio KAMIYA1980 Volume 16 Issue 1 Pages 118-123
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a dynamic simulator and the control characteristics for a radioactive inert gas recovery plant which uses a cryogenic liquefying process.
The simulator was developed to analyze the operational characteristics and is applicable to gas streams which contain nitrogen, argon, oxygen and krypton. The characteristics analysis of the pilot plant was performed after the accuracy of the simulator was checked using data obtained in fundamental experiments. The relationship between the reflux ratio and krypton concentration in the effluent gas was obtained. The decontamination factor is larger than 109 when the reflux ratio is more than 2.0. The control characteristics of the plant were examined by changing its various parameters. These included the amount of gas to be treated, the heater power inside the evaporator and the liquid nitrogen level in the condenser. These characteristics agreed well with the values obtained in the pilot plant.
The results show that the krypton concentration in the effluent gas increases when the liquid nitrogen level is decreased. However, in this case, the krypton concentration can be minimized by applying a feed forward control to the evaporator liquid level controller.View full abstractDownload PDF (743K) -
Kazuo MACHIDA, Yoshitsugu TODA, Isao KUDO, Katsuya NAKAYAMA1980 Volume 16 Issue 1 Pages 124-129
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe ion engine is one of the most promising electric thrusters for satellite control because of its high specific impulse.
The discharge stability is the most fundamental requirement for an ion engine operation. The thermal control of an engine for optimum ignition and upkeep of discharge, and the compatibility between the discharge plasma and the power supply are described in this paper from the view of discharge stability.
The mathematical thermal model of a discharge chamber is derived, and design criteria for the thermal conductance of an engine and for the heater power distribution of a power conditioner are obtained. Next, the propellant flow control loop for the discharge chamber which includes nonlinear and time lag elements is analyzed. The offset and the stability condition are derived with respect to the gain parameter. Furthermore, the compatibility between the plasma and power supply is investigated experimentally. The important conclusion is that the capacitance of output filter is the dominant factor to cause an undesirable intermittent discharge.View full abstractDownload PDF (1567K) -
Takashi SUZUKI, Takumi NAKAMURA1980 Volume 16 Issue 1 Pages 130-136
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper discusses the stability of a discrete type of model reference adaptive control system based on the augmented error signal concept and proves that even the simple parameter adjustment law with constant adaptive gain guarantees the asymptotic stability of the output error between the plant and the reference model.
In this paper, first the design method for an adaptive control system to be considered here is explained and it is shown that the parameter adjustment law is described as a nonlinear difference equation. It is then proved that the solution of this equation converges to its equilibrium point with an exponential rate regardless of the magnitude of the plant input and output signals. This fact ensures the plant without zero lying outside the unit circle that the plant input and output signals will become bounded at the steady state and that consequently the plant output will follow the model output. The validity of the above theoretical results has been ascertained by the computer simulation studies carried out for a second order plant.View full abstractDownload PDF (764K) -
Teruo NEGISHI, Hideaki TOKUNOU, Shizuo KOMEJI1980 Volume 16 Issue 1 Pages 137-138
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (289K) -
Toshiyuki KITAMORI1980 Volume 16 Issue 1 Pages 139-140
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (257K) -
Hisahiko ARIYOSHI1980 Volume 16 Issue 1 Pages 141-142
Published: February 29, 1980
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (221K)
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