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Volume 18, Issue 5
Displaying 1-18 of 18 articles from this issue
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Hidenori KIMURA1982 Volume 18 Issue 5 Pages 429-435
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper aims to give a theoretical foundation to the ideal closedloop properties of high gain feedback systems, such as complete desensitization, complete tracking performance and complete disturbance rejection, which have been so far explained only heuristically in most text books of control theory. A synthesis method of high gain controller for single input single output plants is proposed based upon closed-loop root loci assignment, which achieves the ideal closed-loop performance mentioned above asymptotically. The method is extended to non-minimal phase plants via a cascade decomposition of the plant into the minimal phase part and the maximal phase part. This is shown to be a generalization of the celebrated design method by Smith for plants with dead time. Some numerical examples are shown to demonstrate the actural performance of high gain feedback systems.View full abstractDownload PDF (851K) -
Katsutoshi TAMURA1982 Volume 18 Issue 5 Pages 436-442
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper discusses an adaptive observation system of the disturbance and the state vector for single-input, single-output linear discrete plants. It is assumed that the plant has unknown and time varying parameters and that step wise waveform disturbances act on the plant. The observability condition of the state and the disturbance is examined, the minimum time state and disturbance observer is given and the minimum time parameter identifier is obtained. The adaptive observation system using the identifier and the observer is presented. Numerical examples are given to illustrate the effectiveness of the observation system.View full abstractDownload PDF (756K) -
Akira INOUE, Zenta IWAI, Katsuhiro NARASAKI1982 Volume 18 Issue 5 Pages 443-449
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a method for obtaining an optimal reduced order model to approximate a given high-order system with polynomial inputs. The polynomial inputs have many terms with random coefficients and approximate most of inputs operated in practical closed-loop control systems. The index for a reduced model is defined by integrating the square of its output error and averaging the integral over the random coefficients. The optimal reduced order model has the minimum index under the condition that the steady-state portion of its output is equal to the one of the high-orderr system exactly. This paper gives analytical expressions for the evaluation of the index, the gradients with respect to the unknown model parameters and the condition for coincidence of steady-state outputs of high-order system and the reduced order model. These expressions are derived by using a transformation of the state-variables of augmented systems with an input model and reducing the problem with polynomial inputs to a problem with inpulse inputs.View full abstractDownload PDF (929K) -
Yoichi HAYASHI, Naonori NISHIDA, Eiichiro TAZAKI1982 Volume 18 Issue 5 Pages 450-457
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSVarious methods for the optimal synthesis of systems have been developed, for example, the optimal synthesis of chemical processing system. However, published works for the synthesis of optimal network flow systems are very scarce.
On the other hand, the importance of a matroid theory has been increasingly recognized recently as an effective approach to the combinatorial optimization problem.
In this paper, a network system was chosen as the subject to the study. An optimal flow problem is first formulated. The problem is to find a maximum flow having as proportional to the given weights distribution of flows as possible. The value of weights to be given will be assigned so that the desired distribution of flows with respect to multiple sources and sinks are obtained. Secondly, it has been indicated that the optimal synthesis problem can be solved by utilizing the weight vectors as a means of the structure parameters.
A synthesis method has been proposed with the two level approach which determines the optimal values of the evaluation function by varying the distribution of flows with respect to multiple sources and sinks in a network.
A characteristic of the proposed method is that difficulties on the numerical computation for a large scale problem can be avoided.
In order to prove the validity of the proposed methods, illustrative examples are solved to see how they work.View full abstractDownload PDF (1061K) -
Control by On-Off Error SignalTakashi SUEHIRO, Minoru HIGASHIGUCHI1982 Volume 18 Issue 5 Pages 458-463
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a new control method “Presumtive Optimal Control”, which is useful for the system composed of a informationless ternary error sensor and the plant assumed having 2nd order transfer function. Ouptut of the ternary sensor is ‘-1’, ‘0’, or ‘+1’ according to signs of system error, where ‘0’ indicates that the error is within the permitted range. Such a sensor provides exact positional information only at the boundary of permitted range, while its output changes. So the system state is quite uncertain while the error is out of the range. But once the error goes out through the permitted range, we must try to bring the error back into the range and to settle there. Then some suppositions to the system state are needed for controlling it. The presumptive optimal control presumes the system state such that the error comes back into the permitted range next instant, then the sufficient information is given. With such a presumption it fixes its control input as optimal at that moment, and repeats such processes at each moment.
Simulation by digital computer shows that the presumptive optimal control has better performance than other conventional control methods.View full abstractDownload PDF (804K) -
Takehiro MORI, Norio FUKUMA, Michiyoshi KUWAHARA1982 Volume 18 Issue 5 Pages 464-470
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAs is known well, Lyapunov matrix equation, together with Riccati equation, plays a fundamental role in various aspects of linear and nonlinear system theory. Due to its extreme importance, a lot of papers concerning numerical methods of solving it efficiently have been published, though it is merely a linear algebraic equation. Moreover, in recent years many simple inequalities have been proposed to evaluate the “size” of its solution at hand.
In this paper, some new explicit formulae for the solution of the Lyapunov matrix equation are presented and lower and upper bounds for its extremal characteristic roots are derived using these formulae. The obtained formulae may be theoretically interesting in its own right and may possess some points of advantages in solving the equation numerically. The bounds derived here are quite useful because they can be applied in an unified manner to the equation with any coefficient matrix whenever it has a positive definite solution. Simple numerical examples are illustrated to make the significance of the present approach clear.View full abstractDownload PDF (923K) -
Morihiro MATSUTA, Kanji KITO, Tsuyoshi KUBOTA1982 Volume 18 Issue 5 Pages 471-475
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA method of gloss measurement was studied experimentally, which can obtain physical quantities closely related to psychological gloss levels, unaffected by the detrimental effect of orange peel.
In the experiments, a series of six standard samples were prepared which possesed appropriate gloss intervals scaled by the sensory evaluation using a modified paired comparison method and have various levels of orange peel. Physical gloss evaluation was made for the samples, using an apparatus that sensed a distinctness of a' reflected knife edge pattern image or a square wave pattern image. Correlations were investigated between the gloss intervals and the following physical quantities: the maximum tangent slope of a dark-to-bright transition curve for the knife edge pattern, and the contrast for the square wave pattern. The effects of spatial resolution Am and floating range Δb (distance between a sample and an image plane) were also investigated.
A good linearity was obtained between the gloss intervals and the physical quantities, for Am=0.5mm and Δb=50mm. The linearity was considered to be caused by the elimination of the orange peel effect on gloss, as shown in the following equation for the elimination, derived from consideration of geometrical optics: Am<λw/2 and Δb<<rw/2 where λw and rw are wavelength and radius of curvature of waviness, respectively. Since λw≥2.8mm and rw≥580mm, substitution of the experimental values of Am and Δb are shown to satisfy the above conditions. It was found that a better correlation with gloss intervals isobtained for maximum tangent slope than for contrast. The reason is considered below. The main factor for the psychological gloss is roughness and subfactors are refractive index and others. On the contrary, the contrast is a quantity related to only the roughness, while the slope is a quantity related to roughness and the refractive index.View full abstractDownload PDF (648K) -
Multi D.A.C. MethodHikaru YAMADA1982 Volume 18 Issue 5 Pages 476-481
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, a new method to improve the differential linearity of Successive Approximation type AD Converter (S.A.A.D.C.) is described.
The S.A.A.D.C. has very short conversion time and is widely used, but has very poor channel width uniformity. For this reason, the S.A.A.D.C. is scarcely used for the measurement of Probability Density Function (P.D.F.) of every random signals. Especially, AD converter (A.D.C.) for the radiation Pulse Height Analyzer (P.H.A.) (Rundom pulse amplitude distribution analyzer) must have good differential linearity. Run-down type A.D.C. which is first proposed by Wilkinson gives excellent differential linearity, but is applicable only to the P.H.A..
The largest cause for the channel width irregularity of S.A.A.D.C. is due to the channel width irregularity of the DA converter (D.A.C.) used in it.
A special feature of this proposed method is that a plural D.A.C. is used in the S.A.A.D.C.. Output signals of these D.A.C.s are averaged to obtain the uniform channel width of S.A.A.D.C..
In the first parts of this paper, the principle of this method is shown. In the second parts, the channel equalizing effect of this method is analyzed using the correlation moment. In the final parts, the validity of this method is examined by the following measurements.
1) The P.D.F. of the uniformly distributed continuous random signal is measured.
2) The pulse height distribution of the gamma rays (60Co) detected by scintillation detector is measured.
Through these tests, it is confirmed that this method has good faculty of channel equalization on S.A.A.D.C..View full abstractDownload PDF (680K) -
Fumihiro SAKUMA, Susumu HATTORI1982 Volume 18 Issue 5 Pages 482-488
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a 900nm silicon narrow-band radiation thermometer, which is calibrated by a set of fixed point blackbody furnaces, as for a practical temperature standard of good accuracy.
This radiation thermometer covers the temperature range from 420°C to 2000°C and its focal range extends from 40cm, of which the object area is 3mm in diameter, to infinity. The image of the measured plane is focused by an objective lens on a mirror with an aperture of 0.75mm diameter. The light passed the aperture travels through a condenser lens, through an interference filter, of which the maximum transmission wavelength is 900nm and the half width 14nm, and reaches to a silicon photo-cell to be converted into an electric current. The optical axis of the thermometer is set on to the object by using a finder system which utilizes reflected light from the mirror.
The photo-current from the silicon photo-cell is converted by a four-range FET amplifier into a voltage signal and then measured by an electronic digital voltmeter. By selecting appropriate range, a resolution of 1K at 420°C and better than 0.01K above 600°C can be obtained. When the fluctuation of room temperature is smaller than ±1K, the thermometer has a reproducibility of ±0.1K for above 600°C range.
The relation between the output voltage V(T) of this radiation thermometer and temperature T of the object can be expressed as follows:
V(T)=Cexp(-c2/AT+B)where c2=0.014 388m·K.
When the calibration to determine the coefficients A, B and C is made by using three fixed point blackbody furnaces of Al, Ag and Cu with precision of 0.3K, a temperature scale for practical standard of ±0.5K precision can be realized with this thermometer in the temperature range from 600 to 1100°C.View full abstractDownload PDF (1539K) -
Yomei KATO, Hiroji MIKAWA1982 Volume 18 Issue 5 Pages 489-494
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents dynamic characteristics and control characteristics of a double-rectifying column for an air separation plant.
The dynamic characteristics of the rectifying column were examined by changing its various parameters. It was cleared that the oxygen concentration in the upper column of the double-rectifying column is influenced by the reflux flow rate changes from lower column. In order to minimize the reflux flow rate changes, a sampling control method was developed.
As a result of this experiment, a supervisory control method, which keeps the ratio of the liquid flow rate to the vapor flow rate constant in the column has been developed. It was recognized by use of dynamic simulator that the product oxygen concentration can be controlled by this method.View full abstractDownload PDF (743K) -
Takayoshi TOTANI, Toshiaki HARADA1982 Volume 18 Issue 5 Pages 495-500
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a real-time signal processing procedure to obtain the response function of a system by using a pseudo-random pulse train based on a binary M-sequence. In this method, the pulse width of the input signal is selected to be independent of the clock-pulse period of the pseudo-random signal, T, and the sampling period of the output signal is chosen as its integral multiple is equal to T. The discre to cross-correlation functions are computed by the M-sequence which generates the input signal and the output data sampled at time-intervals of T, and the set of these crosscorrelation functions is proportionalto the response of the system to the single pulse. In the real-time processing, this computation can be done by means of a shiftregister memory and a high-speed reciprocal M-sequence signal generator.
The response function obtained by this procedure is approximately equal to the delayed impulse response function of the system whose delay time is the half of the input pulse width. By using the input signal with a small pulse width, the response measurement with suitably high-frequency characteristics is possible, even when the period of the M-sequence is small. If the system has a nonlinearity, some spurious responses appear at certain positions of the result, and this fact indicates the existence of the nonlinearity. Experimental results concerning these things are shown.View full abstractDownload PDF (771K) -
Mitsuo AI, Masatoshi TSUCHIYA, Akio YASUKAWA1982 Volume 18 Issue 5 Pages 501-506
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSemi-conductor sensors requirh such conditions as high bonding strength, stability at repeated stresses and electrical insulation on their bonding parts. But several defects are found in solder materials now generally used, resines, low melting point glasses and gold-silicon eutectic alloys respectively.
This paper presents the investigations concerning the gold-copper-germanium ternary eutectic alloys as solder materials of semi-conductor sensors. The alloys have high bonding strength by forming super lattice of goldcopper alloys in the ternary eutectic alloys.
At first, theoretical stress analysis is carried out on the bonding parts with certain assumptions, and the following results are clarified for decreasing the zero point shift and hysteresis of sensors; (1) The materials with high shearing yield strength have to be used. (2) The thickness of solder layers has to be thinned.
After that, the experiments are performed on gold-copper-germanium ternary eutectic alloys. From these experiments, it is found that the tensile strength of ternary alloys increases by forming super lattice of gold-copper alloys in the ternary alloys and reaches 1GPa when copper contents are 19 wt%.
The liquidus temperatures of the gold-(17-19) wt% copper-(12-15) wt% germanium ternary eutectic alloys, approximately 700K, are as same as the heat-treatment temprature of cantilevers made of iron-nickel-cobalt alloys, and the performance of semi-conductor sensors containing canti-lever will surely be maintained in the most favorable condition.
Zero point shifts of the sensors are within ±0.1% after 107 cycles when repeated stresses of 1.5 times of full scale are applied.View full abstractDownload PDF (1756K) -
Structures of the Optimal Regulator for Systems with Gyroscopic CouplingToshiro HIGUCHI, Takeshi MIZUNO1982 Volume 18 Issue 5 Pages 507-513
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSTotally active DC-type magnetic bearing control system is designed by utilizing linear quadratic optimal control theory.
The rotor suspended by the magnetic bearing system has five degrees of freedom of motions which have to be controlled by the magnetic bearings. They are three translations and two rotations.
The optimal regulator problem for totally active magnetic bearing system is composed of two kinds of problems. One is a problem for single degree of freedom system about each translation and the other is a problem for two degrees of freedom system about rotations. Special attention is given to the latter since the latter is more general than the former. When the rotor rotates at high speed, there exists strong interaction between two rotations by gyroscopic effects. It is shown that the optimal regulator system needs antisymmetric cross state feedback corresponding to the gyroscopic coupling in the controlled system. The solution of the optimal regulator problem is also presented in an analytical form.View full abstractDownload PDF (968K) -
Fumio MATSUDA, Shin-ichi MATSUYAMA, Minoru UEDA1982 Volume 18 Issue 5 Pages 514-519
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSMany Kinds of industrial robot have been developed for labor saving or emancipation of human labor from simple and dull or dangerous works. But at present the purpose has not been achieved yet. One of the reasons is considered to be that these industrial robots have not sensing system like a human body. For example, in welding or spray painting, a welding rod or a spray gun must hold a constant distance up to the object surface wherever the object is not set at the accurate position, so the robots for such works must have some sensing system to hold a constant distance up to the object.
We have developed one of such systems that can be used for welding, painting and so on. The principle of the distance sensor of this system is as follows. The light beam of a laser is reflected by a rotating mirror and scans on the object surface. There are two photo-receivers to catch the beam. One of them is set near the rotating mirror and receives the scanning laser beam in a fixed direction. This direction is the beginning of scanning. The other one is set on the robot arm, which can move horizontally, and receives the horizontal component of dispersed light from the object surface. The time interval between the outputs of two photo-receivers is a function of vertical distance between the rotating mirror and the arm of the robot, L, and of the horizontal distance from the rotating mirror up to the object surface, X. From some computation with a mini-computer the distance X can be detected. Using this sensor, the system can hold the interval constant from an arm tip up to an object.View full abstractDownload PDF (1208K) -
Noboru OHNISHI, Kazuo TSUCHIYA, Koji ITO, Masami ITO1982 Volume 18 Issue 5 Pages 520-526
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe reverse reaction phenomena are observed in the output signal (difference between right and left vertical floor reaction force) of the tracking motion, in which a subject shifts his body weight right or left according to a step signal. This paper describes cause and property of the phenomena. A simple model of the tracking motion is constructed assuming that a human body can be approximated with rigid link system. The tracking model can simulate the experimental data well. An unstable pole of standing posture model becomes to be a zero point in the right half-plane on the complex plane in the closed loop transfer function obtained from the tracking model. It is con-cluded that the phenomena result from un-stableness of standing posture. The explanation of the phenomena using the model is certified by electromyogram. Investigating relations between an amplitude of the reverse reaction and other parameters on the basis of simulation results, it is concluded that the amplitude of the reverse reaction is an important parameter from which muscle torque can be evaluated.View full abstractDownload PDF (950K) -
Tadashi YAMASHITA, Fumio HARA1982 Volume 18 Issue 5 Pages 527-533
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper deals with dynamical characteristics of face graph, which is drawn by using mathematical formulas containing 21 parameters normalized within [0, 1]. Face graph is a new method as an integrated display of multidimensional time series data such as plant states for an improved man-machine communication.
Dynamical sensitivity expressing a degree of easiness of distinguishing a dynamical change in the face graph parameters like eye size, eye openness, nose length, mouth shape and so on, and learning effects with face graph were experimentally examined. It is clarified that 1) dynamical and statical sensitivity on face graph parameters showed a similar tendency, and 2) low dynamical sensitivity showed higher learning effects.
For dynamical change in face graph's expressions, such as laughter, anger, sadness, smiling, surprise and suspicion, recognition characteristics analysis experiments, analysis of learning effects and of preliminary knowledge effects on face graph were carried out. Exeriment revealed that the anger showed the highest degree in recognition; the laughter and smiling showed the highest learning effect; and the laughter, smiling and surprise showed a high value for preliminary knowledge effect.
An application of this dynamic face graph to a display of 4-dimensional time series data obtained from a heat exchanger plant model clarified that even a slight change in plant state is easily recognized through a dynamic display of plant state on face graph's expression.View full abstractDownload PDF (983K) -
Yoshinori KAWASAKI, Masanori GOTOH, Zenta IWAI1982 Volume 18 Issue 5 Pages 534-536
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (365K) -
Takahiro MORI, Norio FUKUMA, Michiyoshi KUWAHARA1982 Volume 18 Issue 5 Pages 537-539
Published: May 30, 1982
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (286K)
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