巻号一覧
19 巻, 6 号
選択された号の論文の14件中1～14を表示しています
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瓜倉 茂, 西村 卓也, 長田 朗1983 年 19 巻 6 号 p. 439-444
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, the settling problem of the output of linear, time-invariant, discrete-time systems is discussed, i.e. the problem is to find a control sequence which transfers and settles the output to a given constant reference value with the minimum time (in the sense of the minimum number of time steps). The solution to the posed problem can be obtained in the form of an extension of the results for the problem of the zero reference value case. Also, the internal stability and the full time settling property of the constant-value control system are considered. It is shown that the transmission zero of the system play some important roles on the synthesis and the evaluating performance of such control systems. Finally a simple numerical example is presented to illustrate the above results.抄録全体を表示PDF形式でダウンロード (727K) -
渡部 慶二, 金子 雅道, 伊藤 正美1983 年 19 巻 6 号 p. 445-450
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with finite pole assignment problem for systems with delay in state and control. Manitius and Olbrot suggested that the problem for systems with delay in state and control can be reduced to one for systems with delay in only state by conecting an integrator to the control input. This paper shows that the system with delay in state and control is finite pole assignable without extra integrators if and only if the system is spectrally controllable. A systematic design procedure of the control law is also presented.抄録全体を表示PDF形式でダウンロード (655K) -
疋田 弘光1983 年 19 巻 6 号 p. 451-457
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with diagonal decoupling of a linear time-invariant system with m-inputs and γ-outputs (m≥γ) by constant gain feedforward and state feedback compensation using a polynomial matrix approach. First by applying the ideas of exact model matching a relation which must be satisfied between the system, the compensators and the desired decoupled system is derived. Then a sufficient condition is given and pole placement of the decoupled system is considered in connection with this condition. It is found that the closed loop poles can be grouped into three classes; two kinds of arbitrarily assignable poles and constrained poles. In order to clarify the usefulness of obtained results, decoupling methods which have been presented before are also investigated from the standpoint of this paper. Finally an illustrative numerical example is provided.抄録全体を表示PDF形式でダウンロード (811K) -
大久保 重範1983 年 19 巻 6 号 p. 458-465
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーA linear servo system and a model following control system can let an output follow a desired signal. A linear servo system has the robustness for disturbances, but the modes of desired signals must be known previously.
On the other hand, a model following control system has no limitation of reference input, but has no enough countermeasures to eliminate the influences of disturbances. This paper is concerned with the design of the multi-input and multi-output model following linear servo system with unknown step disturbances by the use of advantages of a linear servo system and a model following control system. This paper's design method has characteristics to divide a controlled object to a steady state system which is drived by inputs and a transient system which is drived by disturbances and initial values, to make a transfer function of the steady state system matching to the transfer function of the model by the technique of a state variable filter, and to eliminate the influences of disturbances and initial values by the use of linear servo system for the transient system. In this method, it is possible to prove that the designed system is stable and the output error converges to zero with the formulation of Faddeeva's algorithm and left coprime factorization.抄録全体を表示PDF形式でダウンロード (887K) -
亀井 且有, 荒木 義彦, 井上 和夫1983 年 19 巻 6 号 p. 466-471
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーMany techniques for searching the optimum of unimodal unknown function are discussed in nonlinear optimization problems and the mathematical programmings. On the other hand, though the search method for multimodal unknown function is an important technique in the optimization of systems, it is not discussed so sufficiently as the unimodal unknown function.
This paper describes a new method for searching the global maximum of multimodal unknown function. The method is composed of three kinds of searches. They are called G (Grasping)-mode search, F (Finding)-mode search and C (Confirming)-mode search. In the G-mode search and the C-mode search, a heuristic method is used which was extracted from search behaviors of human subjects. In F-mode search, the simplex method is used which is well-known as a search method for unimodal unknown function. Each mode search and its transitions are shown in the form of flowchart. The numerical results for one-dimensional through six-dimensional multimodal functions prove the proposed search method to be an effective one.抄録全体を表示PDF形式でダウンロード (797K) -
斎藤 粛1983 年 19 巻 6 号 p. 472-479
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーThe wide region water-supply systems consist of large numbers of reservoirs, interconnecting pipes and pumping stations. Recently, the needs for optimal pumping control capable of maintaining desired reservoir storages, load flattening of purification plants and reduction of pumping costs over the entire control period are growing. However, high dimensionality on the system causes difficulties of identification of the weighting factors and solution to the non-linear optimization.
This paper successfully describes the practical method which makes it easy to solve the optimization problems for overcoming the difficulties of dimensionality. The features of this method are;
(1) The approach is based on the concept of simplification by temporary omitting of inequality constraints.
(2) The weighting factors are decomposed into some weighting factors which have only one function.
(3) To adjust the degree of minimization of each objective function, a reasonable identification method of the single functional weighting factors is presented.
(4) From the optimal set of solutions obtained without the inequality constraints, a feasible solution is selected by parametric approach varying the weighting factors to keep the inequality constraints.
The practical application of this scheme to the water-supply system with 4 reservoirs, 8 pipes and 7 demands indicates that the method is appropriate for the optimal online control.抄録全体を表示PDF形式でダウンロード (970K) -
S-S優越構造竹口 知男, 明石 一1983 年 19 巻 6 号 p. 480-486
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーIn the decision-making by maximizing the expected utility, it is important to identify utility functions and to assess the probability distributions for each alternative. In practice, however, it appears very difficult to do this in many cases. Therefore, it becomes necessary to develop decision-supporting method on the basis of the obtainable partial knowledge of utility functions and probability distributions. One such method is by using the concept of dominance. The notions of dominance that can be applied to the maximum expected utility criterion are: (a) Stochastic Dominance, by which the alternatives are ordered by comparing structure of their probability distributions under partial knowledge of utility functions, and (b) Statistical Dominance, by which the alternatives are ordered by comparing utility function values under partial knowledge of probability distributions. In this paper, stochastic dominance is first surveyed. Then, statistical dominance by Fishburn is extended, and by coupling the extended statistical dominance with stochastic dominance, Stochastic-Statistical (S-S) Dominance is developed. This dominance can be applied to the cases where only partial knowledge is available of both utility functions and probability distributions. Finally, the derived conditions for the S-S dominance are applied to an investment decision problem of stocks in Japan in order to see the feasibility of S-S dominance. By adding a reasonable criterion for incomplete knowledge of probability distributions, we can select the best alternative from among 115 alternatives on the basis of the risk aversion. It seems clear that S-S dominance does work as decision-supporting method under incomplete knowledge.抄録全体を表示PDF形式でダウンロード (941K) -
町田 和雄, 戸田 義継, 村上 寛, 工藤 勲1983 年 19 巻 6 号 p. 487-493
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーAn ion engine is one of the most promising electric thrusters for satellite position control because of its high specific impulse. As the engine must be operated thousands of times during the station keeping mission, an autonomous control function is necessary.
The engine is nonlinear multivariable system which is controlled by 10 power supplies. The reguirements about power, peak current and start-up time are imposed on the control system. The analysis and synthesis of the sequence control system are performed by the simulation which includes the thermal and plasma models. The trajectories of the temperature transition are analized for stabilizing the discharge process. The introductions of some delay times and soft controls are effective for reliable engine operation. The fabricated system is tested and sufficient performances are verified.抄録全体を表示PDF形式でダウンロード (1426K) -
荒牧 重登1983 年 19 巻 6 号 p. 494-499
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーThe method to control manipulator is classified into two large groups. One is playback control, another is logical control. Now, many industrial robots are controled by playback control. Usually playback control is considered as the simple reproduction of the learned action and it is not flexible. This paper describes that teaching data becomes flexible by combining playback control with logical control. As an example, it is shown that manipulator can write Chinese characters on a inclined plane by introducing the force control and coordinate transformation into the playback control.抄録全体を表示PDF形式でダウンロード (1203K) -
浅田 春比古1983 年 19 巻 6 号 p. 500-505
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーRobot manipulators and mechanical arms have complicated behavior including interactions among multiple joints, nonlinear effects such as Coriolis and centrifugal forces, and varying inertia depending on the arm configuration. In this paper, a new approach to the geometrical representation of manipulator dynamics is presented. The inertia ellipsoid, which is used to represent dynamic characteristics of a single rigid body, is extended to a series of rigid bodies in order to represent the manipulator dynamics. The geometrical representation of the generalized inertia ellipsoid (GIE) represents the characteristics of the manipulator as a whole. One can understand the complicated inertia effect and nonlinearity of multi-degree-of-freedom motion by simply investigating the GIE configuration. In the latter half of the paper, the presented method is applied to aid the design of a mechanical arm, in which dimensions of an arm structure and its mass distribution are optimized through the evaluation and graphical representation of the arm dynamics.抄録全体を表示PDF形式でダウンロード (868K) -
河野 通夫1983 年 19 巻 6 号 p. 506-508
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (321K) -
重政 隆, 森 泰親, 市川 義則1983 年 19 巻 6 号 p. 509-511
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (349K) -
兼田 雅弘, 赤堀 一郎1983 年 19 巻 6 号 p. 512-513
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (259K) -
深田 悟, 田村 英之1983 年 19 巻 6 号 p. 514-515
発行日: 1983/06/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (204K)
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