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21 巻, 5 号
選択された号の論文の21件中1～21を表示しています
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大里 有生, 関口 隆1985 年 21 巻 5 号 p. 423-428
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to provide a new method for solving the convexly combined form of composite fuzzy relation equations, λ·(x_??_R)+λ·(x_??_R)=y, for the two unknown fuzzy relations R, R in order to enhance the applicability of the convexly combined form of composite fuzzy relation equations to the modelling and identification of fuzzy input-output systems. The new method is to find the maximin solution, (R*, R*), of the convexly combined form of composite fuzzy relation equations, λ·(x_??_R)+λ·(x_??_R)=y, where x and y are the given fuzzy sets, λ is the given fuzzy convex combinator whose complement is λ, R and R are the unknown fuzzy relations, and the symbols “_??_”, “_??_”, “·”, “+” denote the sup·min composition, inf·max composition, algebraic product, algebraic sum respectively.抄録全体を表示PDF形式でダウンロード (748K) -
杉山 秀行, 松島 晧三1985 年 21 巻 5 号 p. 429-436
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーWe have proposed the method by means of fuzzy control model purposing the analysis of the human operator's control property for controlled objects with nonlinearity in man-machine systems.
The proposed method has been applied to the analysis of the manual control system including a servomechanism with torque saturation as the controlled object, and the validity of this approach has been verified experimentally.
In this study, a nonlinear object consists of (dead band+integrator) is considered as the controlled one in man-machine system. We examine the operator's tracking control behavior to this controlled object for a step input, construct the operator's fuzzy model referring the experimental results, and infer the control strategy of human operator from the fuzzy model.抄録全体を表示PDF形式でダウンロード (1067K) -
飯田 逵彦1985 年 21 巻 5 号 p. 437-444
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーStudied in this paper is a kind of suboptimal control strategies in linear time-invariant systems with the possibility of aggregation and with incomplete state information.
The concept of an aggregated state estimation is introduced and it is shown that the asymptotic esimation of aggregated states, or of linear functions of state variables under conditions of the aggregation for the systems reduces to Luenberger esimation of the entire state variables of the virtual aggregated models retaining complete observability of the systems. It is also shown that the separation property between control and estimation problems can be concluded in the pseudo-suboptimal control systems constructed by suboptimal feedback control laws based upon the aggregated state estimators.
An expression of upper and lower bounds on relative pseudo-suboptimality is given by means of the pencil of quadratic forms without any assumptions on initial conditions in the systems.抄録全体を表示PDF形式でダウンロード (942K) -
川村 貞夫, 宮崎 文夫, 有本 卓1985 年 21 巻 5 号 p. 445-450
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーHigh speed motion and accurate positioning of robots can not be obtained simply by applying the desired trajectory to each servo system, because of the dynamic interfernces. To overcome this difficulty we apply a kind of learning control which uses the iteration of motion. In this control scheme, a refernce trajectory is corrected by considering the error in every trial so that the system response can accurately coincide with desired trajectory.
This type of learning control system was first investigated by Uchiyama (1978)1. It dealt with a single-input and single-output system, and theoretic properties of learning control are not made clear. In this paper, the stability of learning control for multi-input and multi-output systems is discussed and it is shown that the following three conditions are equivalent each other:
(1) stability of learning control
(2) bounded real property
(3) sensitivity reduction (optimal regulator)
From this relation among conditions, it is shown that an optimal regulator system is stable in the sense of learning control and the feedback gains which satisfy the stability of learning control can easily be determined by solving the Riccati matrix equation. Moreover, it is proved that the learning control is considered to be a process of constructing an inverse system.
According to some computer simulations, it is shown that a choice of some system parameters (e. g. feedback gains and cost function) extremely changes the performance of learning control.抄録全体を表示PDF形式でダウンロード (730K) -
大日方 五郎, 猪岡 光1985 年 21 巻 5 号 p. 451-456
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーA design method based on the moments of an impulse response is proposed in this paper. The moments of an impulse response are known as a means for characterizing the dynamics of the system; for example, delay time and rise time can be defined by moments of an impulse response provided that the inditial response of the system is monotonic rise function. We consider the design problem that the moments of a closed-loop system are matched with the corresponding moments of the reference model with a desirable transfer function. The relation between moments of an impulse response and coefficients of a characteristic equation in closed-loop has been derived. Based on the relation, we can select a closed-loop system with a desirable placement of the poles between closed-loop systems which satisfy the specifications of moments. The parameters of the compensator which achieve such a property can be easily determined by solving the linear equation. Several examples are givn to illustrate the design procedures.抄録全体を表示PDF形式でダウンロード (699K) -
河野 通夫1985 年 21 巻 5 号 p. 457-462
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーA rational function whose denominator polynomial has no zeros inside the unit circle, is called a generalized polynomial, and has properties similar to a polynomial. The ring of generalized polynomials is denoted by R∑(σ). A generalized polynomial matrix has the ∑-Smith form similar to the Smith form of a polynomial matrix. Linear neutral time-delay systems can be represented as systems over the field of rational functions whose argument is σ, where σ is a fixed delay operator. R∑(σ)-controllability which is similar to R[σ]-controllability for a time-delay system of the retarded type, is defined. Theorem 1 gives a necessary and sufficient condition for R∑(σ)-controllability. This condition is represented by the ∑-Smith form for the controllability matrix.
∑-pole assignability which is the extension of pole assignability for a retarded system and guarantees asymptotic stability of the closed loop system by phiscally realizable state feedback, is defined. Theorem 2 states that R∑(σ)-controllability is equivalent to ∑-pole assignability. Theorem 3 gives a sufficient condition for decoupling by physically realizable state feedback. Finally, it is shown that under the condition of Theorem 3 and R∑(σ)-controllability, there exists a differential-difference compensator of the neutral type to achieve decoupling and arbitrary ∑-pole assignment.抄録全体を表示PDF形式でダウンロード (678K) -
奥田 浩二, 池田 雅夫1985 年 21 巻 5 号 p. 463-468
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper considers the problem of stabilizing large-scale systems by means of decentralized dynamic controllers. It is assumed that the system is composed of a number of subsystems and the decentralized control law is conformable to the subsystems. The local controllers are based on observers for isolated subsystems, but it is not expected that the observers estimate the subsystem states when the subsystems are interconnected. The set of local observers is usually not an observer for the overall system. In this paper, each observer is constructed using the idea of perfect regulation so that its state is sufficiently close to the subsystem state against the interconnection effects from other subsystems, and thus decentralized state feedback can be applied approximately. The condition under which this is possible is presented, that provides stabilizability conditions when combined with stabilization results by state feedback.抄録全体を表示PDF形式でダウンロード (778K) -
長谷川 文雄, 中村 有一, 出石 宏彦1985 年 21 巻 5 号 p. 469-474
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents an algorithm for block identification of Origin Destination data matrix based on Multi Dimensional Scaling method. The purpose of this identification consists of two phases: one of them is to identify the boundary of an area which has an homogeneous character from the view point of mathematical similarity, the other is to identify the nuclei of the area which has a centered function.
Both the Theory of Quantification 4 (Eij type) and cluster analysis are used. OD data is translated into a 3-D Euclidean distance, next then, the coordinates are clustered to generate a hierarchical tree graph.
The features of algorithm are described as follows;
(1) The normalization of OD data matrix by using the geometric mean.
(2) The identification of boundary of the areas.
i) The Analysis of normalized OD data matrix with the Theory of Quantification 4 presents us some useful eigenvalues.
ii) The hierarchical structure is shown by clulster analysis with the use of three largest eigenvalues. By these processes, the boundary of the areas are identified.
(3) The identification of nuclei of the areas.
i) The sign of geometric mean is reversed.
ii) Theory of Quantification 4 is applied to the reversed data.
iii) The eigenvalues by the Theory of Quantification 4 show the nuclei of the areas which was found by the (2) process.
This method is applied to Telecommunication OD data matrix to ascertain the effectiveness. The results are clear and useful to the analysis of ‘information block’ of Japan.抄録全体を表示PDF形式でダウンロード (776K) -
切田 篤, 小宮 勤一1985 年 21 巻 5 号 p. 475-479
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーThe salt dilution method is suitable for measurement of flow in open channel. However, the customary method is based on the temporary and inaccurate data obtained by some preparatory measurements, and accordingly the method is unreliable in spite of the complicated procedures.
We present in this paper fine conductivity data of brine, useful for the salt dilution method.
Utilising the data, the salt dilution method becomes more reasonable and simpler, without the preliminary experiments and the procedure of calibration, which are necessary for the customary method.
Moreover, these conductivity data improve the accuracy and reproduction of flow measurements.
Some practical ideas to achieve uniform distribution of injected brine are proposed.抄録全体を表示PDF形式でダウンロード (694K) -
香川 利治, 清水 優史, 森田 矢次郎1985 年 21 巻 5 号 p. 480-486
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with the dynamics of a system of a nonbleed type pneumatic pilot valve and load chamber with a nozzle flapper input. This system is seen in many pneumatic controls and is most important in the discussion of their dynamics.
In the mathematical analysis of this paper, a linearized model is obtained, taking into account the air temperature changes in both the input and output chambers, and the pressure changes due to diaphragm displacement.
In the experiments several transient response tests including a nozzle flapper step input and a flow rate change, have been conducted, and a good agreement with the analysis has been shown.抄録全体を表示PDF形式でダウンロード (1030K) -
遠藤 敏夫, 舟橋 康行1985 年 21 巻 5 号 p. 487-493
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーFor the computer control of temperature of billets in a heating furnace, the radiant heat transfer equation using the total heat exchange factor derived experimentally is widely used. There is, however, no good correspondence between measured billet temperature and calculated one during the transient state.
In this paper, the value of total exchange factor are estimated using the experimental data measured under the operating condition with different heavy oil flow rates. From the results, the model of radiant heat transmission energy is proposed as follows:
1) The furnace is divided into several zones according to heavy oil flow rates, and the total exchange factor can assume different values in each zone.
2) Parameters of the model are determined by the steepest descent method.
The proposed model is applied to the estimation of heating temperature of billets in the continuous furnace. It is assured that the accuracy of estimation remains within the allowable range even in the transient state.抄録全体を表示PDF形式でダウンロード (917K) -
形状の曲率半径による評価木下 源一郎, 服部 清司1985 年 21 巻 5 号 p. 494-500
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes about the estimation of surface shape of an object as the radius of curvature by using the tactile sensor of the robot hand.
Firstly, we have introduced the relationship between the arrangement of sensing elements and the shape of object's surface by applying Yamazaki-Iijima's theorem.
Secondly, we have constructed a tactile sensor whose sensing elements are arranged as 1-D array and are sensitive to normal force on the surface of sensor.
Finally, we demonstrate experimentally the estimation of curvature of different curved objects and the dynamic tracing on the tapered column by the pneumatic controlled finger with the sensor. The tactile sensor can also used as the contour estimation of an object surface globally.抄録全体を表示PDF形式でダウンロード (1456K) -
拘束条件付軌道計画問題の最適解法中村 仁彦, 花房 秀郎1985 年 21 巻 5 号 p. 501-507
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, the optimal redundancy utilization of articulated robot arms is discussed. Concerning redundancy utilization of robot arms, the momentary optimal control scheme has been proposed so far, where the null spaces of Jacobian matrices are made optimal use of instantaneously. However, it is not enough when the exact optimality covering the full working time is required. For examples, the energy saving motion is required for robot manipulators of space use. The successful motion may not be always obtained for obstacle avoidance problem in the working space with complicated obstacles, if we apply the momentary optimal control scheme.
The globally optimal control scheme of redundancy is formulated based on Maximum Principle. By applying this scheme, the optimal solution is necessarily obtained, if it exists. And the amount of computation is reduced to one dimensional search for the minimum value when the degree of redundancy is equal to one.抄録全体を表示PDF形式でダウンロード (947K) -
高瀬 国克1985 年 21 巻 5 号 p. 508-513
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes representation of constrained motion and dynamic control of manipulators under constraint.
When an object has fewer than 6 degrees of freedom (dof), its motion is partially constrained and its position and orientation cannot be arbitrarily determined. Constrained motion for dof=n can be simply represented by n position variables corresponding to the number of degrees of the object's degrees of freedom of motion. Here we introduce six sets of variables for representing an object's position and forces acting upon it. The six sets are as follows.
n sets -n position variables and n supplementary force variables
6-n sets-6-n force variables and 6-n supplementary position variables
Conditions of constraint are satisfied by assigning constants to the supplementary position variables and zero to the supplementary force variables. The position and orientation of the object and forces acting on it are represented by the n position variables and 6-n force variables.
An expression defining motion of the object-manipulator system is formulated in terms of these 12 variables. Position is controlled by a servo mechanism based on real time calculation of position variables, error, and dynamic manipulator joint torque. Force is controlled by driving the manipulator joints with statically determined torque.抄録全体を表示PDF形式でダウンロード (734K) -
安部 恵介, 荒屋 真二1985 年 21 巻 5 号 p. 514-521
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーRecently computer control has been popular in train traffic control system, but the rescheduling under disturbed train operation has still been done by dispatching operators. Most of the methods to support the rescheduling operation by computer are only to simulate the future train operation and display it. In the level of changing train order, which is most frequently done, some methods can make decision to help operators. But they are heuristic methods and their decision can't always be globally optimal.
Therefore, in this paper, an optimization method for the change of train order by the branch and bound method is proposed. After operators made outline of schedule by general consideration, this method gives optimal train order about total delay time. Using integer variables corresponding to the change of train order, we formalize this problem as combinatorial optimization problem. It is large scale mixed integer programming problem, but we can get the efficient solution by making use of its special structure. This method takes approach of enumeration method and reflects the nature of this problem on the way of searching tree, enumerating variables and calculating lower bound in the bound operation. Consequently we can get the prospect of optimizing practical size problems in reasonable time. This method is developed for real-time control, but it is also useful for offline use such as evaluation of the heuristic methods or development of new heuristics.抄録全体を表示PDF形式でダウンロード (1168K) -
小松崎 年雄1985 年 21 巻 5 号 p. 522-524
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (279K) -
田中 正吾, 中田 国彦, 沖田 豪, 小林 康秀1985 年 21 巻 5 号 p. 525-527
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (402K) -
山田 博1985 年 21 巻 5 号 p. 528-529
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (228K) -
長谷川 健介, 張 玉武, 水谷 隆1985 年 21 巻 5 号 p. 530-532
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (333K) -
吉川 恒夫, 桐山 茂生1985 年 21 巻 5 号 p. 533-535
発行日: 1985/05/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (886K) -
1985 年 21 巻 5 号 p. 537
発行日: 1985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 (145K)
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