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21 巻, 1 号
選択された号の論文の19件中1～19を表示しています
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吉田 和信, 西村 行雄, 米澤 洋1985 年 21 巻 1 号 p. 1-6
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーIn this paper some properties of the set KR, whose members are the optimal feedback gains in linear-quadratic regulator problem, are described, and the technique of constructing subsets of KR is given.
Controllable and stable plant as x=Ax+bu is treated. The main results are as follows:
(1) Let Qd=diag(q1, q2, …, qn) be the standard form of weighting matrix Q≥0 in parformance index, then q1∼qn are the coefficients of a nonnegative polynomial.
(2) The set K0L={P0b} is the largest convex cone in KR, where P0 satisfies the Lyapunov equation A'P0+P0A+Q0=0, for any Q0≥0.
(3) P0b is obtained by solving n simultaneous linear equations.
(4) The sets KiL={ki-1+Pib}(i=1, 2, …) are nondecreasing subsets in KR, i.e. Ki-1L⊂ KiL⊂KR, and its limit as i tends to infinity equals KR, Where ki-1 is any member of Ki-1L and Pi satisfies the Lyapunov equation (A-bki-1')'Pi+Pi(A-bki-1')+Qi=0, for any Qi≥0.
(5) Let R(ρ) be the solution of Riccati equation. A'R(ρ)+R(ρ)A-R(ρ)bb'R(ρ)+ρQ=0, where ρ is scalar parameter of weighting matrix. Then dR(ρ)/dρ=P(ρ) satisfies the Lyapunov equation A(ρ)'P(ρ)+P(ρ)A(ρ)+Q=0, Where A(ρ)=A-bb'R(ρ). And optimal feedback gain R(ρ)b is obtained as the solution of a nonlinear differential equation.
Since various design specifications such as desired closed loop poles and constraints on state variables are treated directly in gain space, the subsets of KR can be utilized to design the optimal regulator with those specifications and constraints.抄録全体を表示PDF形式でダウンロード (748K) -
砂原 善文, 相原 伸一, 石川 昌明, 金児 純司1985 年 21 巻 1 号 p. 7-12
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with the state estimation problems for the stochastic distributed parameter systems with saturation.
First, formulating the system model as stochastic variational inequality, the existence and uniqueness properties of the solution are investigated by using the penalization method.
Secondly, the dynamics of the state estimator is given under distributed observations. A practical implementation algorithm of the estimator dynamics is also proposed with the aid of the finite difference method with respect to time and spatial variables.
Finally, for the purpose of supporting the theoretical aspects developed here, an illustrative example is shown including results of digital simulations.抄録全体を表示PDF形式でダウンロード (741K) -
相良 節夫, 江口 三代一, 和田 清1985 年 21 巻 1 号 p. 13-19
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we shall consider a lower bound of sampling periods, when continuous systems are identified by least squares method using discrete model. The lower bound is minimum sampling period such that the identification accuracy based on the step response does not exceed an allowable value. This work is motivated by the fact that too small sampling periods lead to the deterioration of identification results in the presence of noise, which is caused by the bias of the least squares estimates.
We investigate the effect of the bias on the identification accuracy, since the bias can be decided by N/S ratio and sampling period, and discribe graphically the relation between N/S ratio and sampling period for certain values of step response error in the case of the first, second and third order continuous systems. It is shown from this relation that the lower bound becomes larger, as system order increase. Using the figures, the lower bound can be found.抄録全体を表示PDF形式でダウンロード (929K) -
瀬古沢 照治, 舩橋 誠壽, 増位 庄一, 宮岡 伸一郎1985 年 21 巻 1 号 p. 20-27
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーA decntralized conrol method for water distribution networks is proposed and evaluated. In order to realize the decentralized control, this paper solves the following two problems. The first problem is how to decompose the water distribution networks. The second is selection of the control law to be applied to each decompose subsystem.
For the first problem, this paper proposes overlapping decentralized control structure based on the sensitivity matrix. It is shown that convergence rate of the overlapping decomposition structure is superior to that of completely separate decomposition. For the second problem, an adaptive control law is derived which assumes linear input-output relationship with unknown parameters. The proposed method is evaluated by simulation study for an actual large scale distribution network. It is obtained that the method is superior to a conventional completly separated decentralized one in terms of control performance. It is also mentioned the method attains highly reliable control configuration.抄録全体を表示PDF形式でダウンロード (1061K) -
川崎 義則, 岩井 善太, 園田 秀二, 王 建坤1985 年 21 巻 1 号 p. 28-34
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with the design of an adaptive observer to estimate state variables and identify plant parameters of an unknown, SISO, linear discrete-time system with “fast modes” or “parasitic” elements, The observer design is based on the reduced plant model order equal to the order of the slow or dominant part of the unknown plant. The reduced-order observer strurture considered here is based on a non-minimal type representation with the adaptive law determined by equations that give an exponential rate of convergence. The performance of the adaptive observer is evaluated on systems with strongly and weakly observable parasitics and it is shown that the resulting performance is robust.抄録全体を表示PDF形式でダウンロード (842K) -
川田 誠一, 嘉納 秀明, 増淵 正美1985 年 21 巻 1 号 p. 35-41
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーThe relation between the spatial weighting function of the manipulated variable and the locations of zeros is discussed for single tube, parallel-flow and counter-flow that exchangers.
When the spatial weighting function for the single tube heat exchanger which wall temperature is manipulated is linear and exponential, the locations of the zeros move to the left on the complex plane as the magnitude of the spatial weighting function is specified larger at the outlet than that at the inlet.
It is confirmed that the relation between the spatial weighting function and the locations of zeros in the parallel-flow and counterflow heat exchanger shows the same tendency as that of the single tube heat exchanger. It is also found that the locations of the zeros move to the left as the temperature efficiency of the fluid which flow rate is manipulated becomes higher.抄録全体を表示PDF形式でダウンロード (1054K) -
出口 光一郎, 井内 秀則, 森下 巖1985 年 21 巻 1 号 p. 42-48
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーPWIP-1 (Programmable Window Image Processor-1) is a compact size high speed image processor designed for studying and developing image processing algorithms. It has flexibility to program a variety of image processings. Its image processing unit is controled with rewritable microprograms. To define local window for neighbourhood operations such as spatial filterings, a table of X- and Y-coordinate displacements on a image plane which define local neighbourhood window is placed in the micro instruction codes. So that, the shape and size of the window can be defined arbitrarily. Processing elements in the image processing unit are mutually connected along with an internal data bus. A variety of pipelined processing paths of image data flow can be configured by the microprogram controls through those elements and high speed image memories called Image Registers. PWIP-1 performs many types of high speed image processing with this re-configurability and pipelined processings. The execution time of 3×3 window spatial filtering on 256×256 pixel and 8-bit image is 120ms.抄録全体を表示PDF形式でダウンロード (2104K) -
中原 寿喜太, 今枝 彬郎1985 年 21 巻 1 号 p. 49-56
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーIn order to precisely measure insensible perspiration, low drift, precision near-infrared hygrometer is designed. Basically, this hygrometer comprises two light beams (both absorbing band 2.6μm) and two PbS photocell detectors kept at constant temperature by an electronic control unit. Those detertors are connected in parallel and used as one of the branches of detecting bridge, since this reduces the resistance of the branch, thus increasing the sensitivity of the bridge. The intensity of light sources is decreased as lower as possible to keep detectors from decay, and to decrease the drift of the instrument. The method to increase the sensitivity of the bridge circuit with very high resistance is discussed. In order to decrease in 0-point drift due to slight change in temperature of detectors, a compensation method is also discussed that a thermistor to detect the temperature of the photocell is used as a reference of the bridge.
As a result of those countermeasures, the drift of the instrument decreases within ±0.01μA/h and the sensitivity is approximately 10 times more than that of one beam, one detector type near-infrared hygrometer.
The apparatus for measuring insensible perspiration using this hygrometer is sensitive to perspiration levels as low as 0.05mg/10cm2·10min. The accuracy of this apparatus better than 2% is obtained.抄録全体を表示PDF形式でダウンロード (1100K) -
山本 幸生, 原 裕一郎, 井口 征士1985 年 21 巻 1 号 p. 57-62
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes a high-resolution frequency identification method based on complex spectral analysis. In power spectral analysis, the resolution of frequency in periodic wave is limited by 1/T, where T is the observasion interval. When the two nearby frequencies produce a single peak in power spectrum, they can not be identified separately. But the phase component in complex spectrum gives us a useful method to increase the resolution of frequency identification. Complex spectrum of a periodic wave has the following characteristics as: 1) The direction of component-vector is identical and determined by original wave phase φ. 2) The inverse of amplitude of component-vector gives a linear function of component-frequency. And 3) the cross point of the linear function and the frequency axis gives the frequency of periodic wave. This paper proposes a method to determine whether the peak consists of one periodic signal or two-frequency signals, and to identify the accurate frequencies contained in the original wave signal.
Experimental result shows that two nearby frequencies in original signal can be accurately identified from a short-time complex spectrum. And the influence of the sidelobe of the other spectral peak on the identification accuracy is also discussed.抄録全体を表示PDF形式でダウンロード (731K) -
花崎 泉, 中島 毅, 秋月 影雄1985 年 21 巻 1 号 p. 63-70
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーBurg's algorithm and forward-backward linear prediction algorithm (FBLP algorithm) are effective for short data records in autoregrresive spectrum analysis. But Burg's algorithm has several problems, including spectral line splitting and biases in frequency estimates. Burg's algorithm minimizes the sum of the forward and backward prediction powers subject to the constraint that the AR parameter estimates satisfy the Levinson recursion. The constraint causes the problems, but ensures the stable prediction filter. While FBLP algorithm minimizes it with respect to all AR paramters. This algorithm is the procedure in which the Levinson recursion constraint is removed, and includes less biases in frequency estimates and absence of spectral line splitting, however cannot guarantee the stable prediction filter.
In this paper, we propose a new algorithm possessing the advantage of Burg's algorithm and improving the estimates and show that spectral line splitting cannot be observed by using this algorithm.抄録全体を表示PDF形式でダウンロード (854K) -
宮崎 文夫, 有本 卓, 竹垣 盛一, 前田 陽一郎1985 年 21 巻 1 号 p. 71-77
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーMotion of robot manipulators can be divided generally into the following three categories: i) fine motion which requires high positioning accuracy in all directions, but makes light of the moving speed (ex. assembling) ii) gross motion which tolerates rough positioning accuracy in all directions, only requires high speed movement (ex. material handling) iii) partially fine motion which requires high speed movement in sole directions and high positioning accuracy in other directions (ex. grinding). In this paper we propose several control schemes which are suitable for realizing the motion of category ii) or iii) by extending the method devised for the motion of category i) by Takegaki and Arimoto. The basic idea to derive these schemes is to supply the manipulator system with an artificial potential function and dissipation function according to the substance of each task. In the paper, two potential functions, ‘pyramid’ potential and ‘cone’ potential are presented in order to realize the motion of categories i) and ii). Moreover, we introduce a local coorinate system on the trajectory of end effector to be traced and define a particular potential function for the motion of categories i) and iii). The proposed control schemes strictly assure the asymptotic stability of the target point. It is also possible to incoorporate various sensory devices into them. The effectiveness of the proposed control schemes is verified by several experimental results.抄録全体を表示PDF形式でダウンロード (831K) -
宮崎 文夫, 有本 卓1985 年 21 巻 1 号 p. 78-83
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーA PID local feedback Scheme for the position control of robot manipulators is investigated. In addition to the ordinary use of joint-angle position and velocity feedbacks at each joint actuator, the feedback of integration of positional reference errors is introduced so as to reduce the steady state offset. In spite of the existence of strong couplings between joints, nonlinear terms of Coriolis and centrifugal forces, and bias terms due to frictions or the change of payload, the stability and robustness of the proposed scheme is proved by the Liapunov method of stability analysis incorporating a singular perturbation technique. The stability of a kind of software servoing control is also discussed. The PID feedback scheme is then modified to be suited to the case when the target point, into which the end effector of the manipulator is maneuvered, is described in terms of the Cartesian coordinates or any other task oriented coordinates. The feedback signal for this case is calculated based upon the data of sensory signals taken from both inside and outside of the manipukator, and hence the localization of feedback becomes unavailable. Nevertheless, the asymptotic stability of such a PID sensory feedback scheme is also proved under some condition on the Jacobian matrix.抄録全体を表示PDF形式でダウンロード (724K) -
鶴岡 久, 高辻 正基1985 年 21 巻 1 号 p. 84-89
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーA method is presented for weighing fruit without separating it from its plant. The principle underlying this method involves use of the change in natural frequency when a known weight is attached to a fruit. A one dimensional multi-mass vibration model can be constituted from the shape of the fruit. The natural frequency equation is subsequently determined using the transfer matrix method.
Neither length (s) or stiffness (EJ) of the stem change even if a known weight is attached to a fruit. Therefore, if solution curves for the natural frequency equation are drawn in an s-EJ space, there should be no differences between these curves whether a weight is attached or not.
With this as a background, degeneation of solution curves were calculated for several weights. Fruit weight was determined from the maximum degeneration conditions. The accuracy of this method was then evaluated to be within 3% through experiments making use of a green pepper sample.抄録全体を表示PDF形式でダウンロード (733K) -
大川 不二夫1985 年 21 巻 1 号 p. 90-92
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (354K) -
辻 輝生1985 年 21 巻 1 号 p. 93-95
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (231K) -
芝 亀吉, 一瀬 正, 山口 隆久1985 年 21 巻 1 号 p. 96-98
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (354K) -
山田 博1985 年 21 巻 1 号 p. 99-101
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (322K) -
山田 博1985 年 21 巻 1 号 p. 102-103
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (262K) -
渡辺 顯1985 年 21 巻 1 号 p. 104-106
発行日: 1985/01/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (308K)
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