All issues
Volume 21, Issue 7
Displaying 1-19 of 19 articles from this issue
- |<
- <
- 1
- >
- >|
-
Masanori KUWAHARA1985 Volume 21 Issue 7 Pages 659-664
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIt is important to consider design, location, selection of an actuator, as these problems influence control-performance very much. Concerning actuator design, Kalman's study based on minimam energy control problem is well known. It is also important to advance research based on the same idea in actuator location selection problem. However, this problem being different from general design problem has combinatrial property, and it is difficult to get a solution. If this property is dissolved, actuator selection, location problem can be dealt with on the same basis as a general design problem. Therefore, it is important to dissolve combinatrial property, before studying the problem based on minimam energy control problem. We considered this problem from various kinds of viewpoints. Main studies are development of optimal local solution algorithms, proposition of possibility of comparison (we call it comparability), relation between comparability and uniqueness of solution etc. The latter is especially noticeable, because combinatrial property is dissolved with a proposition of the comparability. Desiring a solution by using this strong point, we must investigate actuator comparability in more detail.
In this paper, to decide the comparability, we propose a comparability matrix, and consider comparability more concretely. At first, we clarify the definition of comparability. We have previously studied the relation between comparability and uniqueness of solution and explain the result briefly. Then we show the equivalant condition of comparability in scalar input system. But this condition could not be expanded to a multi input system directly. Therefore we consider the simultaneous diagonal condition of comparability matrix. Using this condition, we show some equivalant comparability conditions in a multi input system. These conditions express comparability more clearly, and therefore they contribute to designing an optimal comparability actuator.View full abstractDownload PDF (804K) -
Stanislaw K. DUDA, Ryozaburo TAGAWA1985 Volume 21 Issue 7 Pages 665-670
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA stable least order solution of the exact model matching problem in linear systems with a single input, a single controlled output and a measurement multi-output is presented. The solution is derived by a transformation of a compensator whose input is the state vector into a compensator whose input is the measurement multi-output of the given system. A design procedure which provides a dynamic compensator in a form suitable for direct realization and an example which illustrates the applicability of this theory are given.View full abstractDownload PDF (668K) -
Shu-ichi ADACHI, Akira SANO1985 Volume 21 Issue 7 Pages 671-676
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDelayed autoregressive (DAR) model representation plays an important role in the design of a digital controller based on the partial model-matching and a model reference adaptive controller. Paying attentions to the decay of the AR coefficients in the model, we give a simplified algorithm for approximately solving the Riccati equation to calculate control gains. If the number of the AR coefficients increases from n to n+1, the computational results up to the order n can be retained and only the calculations associated with the additional (n+1) th term are needed; therefore the computational burden can remarkably be reduced. Utilizing the approximated solution, we present the simple structure of the digital PD controller and the digital I-PD controller, and discuss the accuracy of the proposed algorithm through numerical simulations.View full abstractDownload PDF (737K) -
Kazunobu YOSHIDA, Yukio NISHIMURA, Yoh YONEZAWA1985 Volume 21 Issue 7 Pages 677-683
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the present paper the design method of a controller for linear system x=Ax+bu with the constraint |u|≤1 is proposed. I=∫∞0x'Qxdt is considered as the performance index. The resultant control law is a nonlinear contral via state-dependent feedback gains, and is not optimal in the sence of minimizing I, but has following desirable properties:
(a) The proposed control law gives smaller I than the linear feedback which the constraint is always met.
(b) It requires relatively simple calculations and is suitable for closed-loop implementation.
The main results obtained in this study are as follows:
(1) Defining the feedback gain k(ρ) with one parameter ρ, and varing ρ according to some rule, u(t)=-k(ρ)'x(t) gives smaller I than with fixed ρ. Not only the constraint but also the rule imposed on ρ are able to be met if k(ρ) is an admissible gain for x(t).
(2) The piecewise-constant gain and the linear region R make closed-loop implementation easy.
(3) The linear region R is represented approximately by polyhedral convex set R. And the method to construct R is given.
Some numerical examples turn out the proposed control law to be effective and attractive.View full abstractDownload PDF (787K) -
Keiji WATANABE1985 Volume 21 Issue 7 Pages 684-690
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with finite spectrum assignment problem of multivariable systems with delay in state variables. It is shown that if and only if the multivariable system is spectrally controllable, the problem can be reduced to the one of single-input systems and solved. The systematic design procedure of the control law is also suggested.View full abstractDownload PDF (743K) -
Shinji SHINNAKA, Takashi SUZUKI1985 Volume 21 Issue 7 Pages 691-697
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents new parameter-adjustment algorithms for adaptive systems and analyzes their properties.
Most of the conventional methods for designing adaptive systems require ideal, in other words, unrealistic design conditions that restrict the applications of the methods. Some of these conditions are due to the parameter-adjustment algorithms implemented in the systems, i. e., the present popular algorithms perform satisfactorily only under certain restrictive circumstances that cause the ideal design conditions. In order to apply the adaptive methods to a variety of existing plants, it is necessary to develop new parameter-adjustment algorithms that can perform satisfactorily under more realistic circumstances where the conventional ones cannot. This paper presents such three algorithms and analytically clarifies their attractive properties.View full abstractDownload PDF (827K) -
Tadashi ISHIHARA, Ken'ichi ABE, Hiroshi TAKEDA1985 Volume 21 Issue 7 Pages 698-705
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSExtensions of the existing single-step active adaptive control algorithms are considered in this paper. Firstly, the active adaptive control of Goodwin and Payne and the innovations dual control of Milito et al. are extended to ARX models with the randomly varying coefficients consisting of white and coloured noise processes. The relationship and drawbacks of the extended algorithms are discussed. A new algorithm is proposed to improve the performances of the extended algorithms for the models with the randomly varying gain coefficient containing the white noise component. Secondly, the extension to the models with d(d≥2) input delays is considered. It is shown that predictors of the outputs up to d-1 step ahead are required for the realization of the active adaptive control algorithms. Finally, simulation results are presented to illustrate the performance levels of the algorithms.View full abstractDownload PDF (975K) -
Mitsuo SATO, Ken'ichi ABE, Hiroshi TAKEDA1985 Volume 21 Issue 7 Pages 706-712
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a learning control problem of finite Markov chains with unknown transition probabilities. The learning control consists of two different tasks of estimating the unknown probabilities and controlling the system. The control objective is here to maximize the total expected reward discounted in time, whichis, as well known, accomplished by consecutive application of an optimal policy. But, of course, the optimal policy cannot be found unless the transition probabilities are previously known. Accordingly, the ultimate goal of the learning is to ensure the convergence to the optimal policy, in other words; asymptotic optimality.
Generally speaking, however, it is very difficult to achieve the asymptotic optimality, because there is an apparent conflict between estimation and control. It is pointed out that some of the learning control schemes which have been presented for this problem do not ensure the convergence to the optimal policy. The others dissolve that difficulty in their own ways and achieve the asymtotic optimality. But these are not so practical by reason that in their implementation computational procedures for determining the control policy are very complicated.
This paper presents a learning control scheme such that, in addition to its being asymptotically optimal, practical procedures involved by its policy determination, which is reduced to maximization of a performance criterion, are much simpler. This criterion is designed with consideration of the conflict between estimation and control. For this scheme it is shown that the control policy converges to the optimal in the sense of a frequency of application.View full abstractDownload PDF (968K) -
Iwao YAMAMOTO1985 Volume 21 Issue 7 Pages 713-718
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDescribed in this paper, is a pneumatic logic device which can function as AND gate with Schmitt-trigger.
Four sets of bellows are bult in an enclosure with a vent. Two of them, whose movable ends are formed as a nozzle, are connected pneumatically to a constant pressure source through an orifice. The other two sets of bellows have a movable closed end individually and input pressures are introduced in the bellows through input ports provided in their fixed ends. Each one of the former sets of bellows are located on the same axis to one of the latters. The nozzles and the movable closed ends which are arranged as the counterface of the nozzles operate as a nozzle-flapper system in connection with the orifice, and the output pressure changes corresponding to the total value of the gaps between the nozzles and their counter-faces. When either or both of the input pressures is low, the output pressure maintains low level since the total gap remains in a appreciable large value. When high pressure is introduced in both input ports, the nozzles contact the movable closed ends and the output pressure maintains a high level equal to the supply pressure. Because of the positive feedback action of the former sets of bellows, Schmitt-trigger operation accompanies the above logical operation and switching of the output pressure with abrupt slope can be performed.View full abstractDownload PDF (910K) -
Iwao YAMAMOTO1985 Volume 21 Issue 7 Pages 719-724
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a new moving parts pneumatic NAND gate based on a nozzle flapper system with a positive feedback mechanism.
Two nozzles are built in an enclosed chamber and each of them counterfaces one of the movable closed ends of two sets of bellows placed in the chamber. Air is fed from a constant pressure source into the enclosed chamber through the nozzles and then flows out to the atmosphere through an orifice provided on the chamber wall. Input pressures are introduced in the sets of bellows and the pressure in the chamber serves as output of the device. The pneumatic circuit which is constructed of the nozzles, the orifice and the sets of bellows is arranged to have bi-stable transfer characteristics, which is caused by a positive feedback action of the bellows. When either or both of the input pressures are low, the output pressure maintains high pressure level nearly equal to the supply pressure, since the fluid resistance between the chamber and the supply source is low. When the pressure in both of the sets of bellows reaches a high level, both of the movable closed ends contact the nozzles and the output pressure falls down to the atmospheric pressure due to shutting off the air flow through the nozzles. Transitions of the output pressure between the two levels can be sharply performed with the positive feedback action.View full abstractDownload PDF (920K) -
Michitaka KAMEYAMA, Tatsuo HIGUCHI, Junichi KONNO, Kaoru TAKASUKA1985 Volume 21 Issue 7 Pages 725-732
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSHigh-speed, low-cost FFT processors have been expected in many signal procesing applications. In this paper, a new architecture of a pipelined FFT processor is proposed to meet higher performance requirements. The processor is an SIMD machine which consists of processing elements (PE's), their interconnection circuit, and a control unit. A multiplier, an adder and memories are used as main components in each PE. One of the most important features in the FFT processor is to realize a pipelining operation so that the operating ratios of the functional elements in PE's become high. Especially, the operating ratio of the multiplier is a key point because it is very cost-effective in signal processing hardware components. In order to get the higher throughput in the multiplier, two RAM's for alternative storing and loading are provided in each memory unit. Thus, the processor can be operated at the highest speed in the FFT processors with the same number of the multipliers. An auto-scaling circuit is also provided to get a higher-precision arithmetic. The 1024-point, 8-bit FFT processor with 11-stage PE's including a windowing stage has been implemented by conventional TTL IC's. The sampling frequency of 2.6MHz and FFT processing time of 0.4msec can be obtained. This performance is superior to those of the other implemented FFT processors and enables many ultra-high-speed signal processing applications.View full abstractDownload PDF (1625K) -
Tokuji OKADA1985 Volume 21 Issue 7 Pages 733-740
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSelf-Adjusting Vehicle In Pipe (abbreviated as SAVIP) is newly proposed. The SAVIP in this paper has three wheels and can locomote with ability of self-adjusting to different pipes in shape and size. The frame of the SAVIP is like scissors since two arms moving about one axis are used, thus we call the frame scissors structure. The SAVIP can move in two types of locomotion. One is tractive and the other is non-tractive.
The tractive SAVIP has a driving wheel at the fulcrum of the scissors and two sphere bearings at the ends of the scissors. The driving wheel rotates about the axis perpendicular to the plane in which the two arms move. The wheel can move sideways freely. Since stretch force of the arm to the wall of the pipe is generated mechanically by using pulleys and a spring, the SAVIP stands in the pipe by pressing the two arms in opposite directions where the pipe swells in the most. The three wheels of the non-tractive SAVIP are sphere bearings.
We analyzed the geometry of the shape of the pipe to obtain the conditions in which the SAVIP can move stably. To clarify the conditions of the SAVIP for standing, we took frictional and gravitational forces exerting on the SAVIP into consideration. The results of the simulation of locomotion of the SAVIP in the plane in which the pipe swells in the most showed the self-adjustability of the SAVIP to the shape and size of the pipe. To prove this ability, we fabricated simplified tractive and non-tractive SAVIPs. Experimental results confirmed that the SAVIPs can move in an inclined or twisted pipe with a deep angle with the self-adjustability. The SAVIP will be utilized in atomic or chemical plants to carry apparatus such as a camera or a probe for monitoring and testing inside of pipes.View full abstractDownload PDF (1802K) -
Yoshiyasu SAKAMOTO, Yoichi TAMURA, Toshiyuki YAMAMOTO, Shusuke YUMOTO1985 Volume 21 Issue 7 Pages 741-746
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes a new method for continuous monitoring of erosion pattern, brought about in the refractory, by means of a heat flow meter. A simulation analysis of thermal disturbance to be caused by installation of the heat flow meter was carried out and, according to the results, an improved sensor was developed. The sensor was successfully applied for the blast furnaces at Kashima Steel Works.View full abstractDownload PDF (839K) -
Nobuo SANNOMIYA, Yoshikazu NISHIKAWA, Hirochika AKAGI, Takashi TSUDA, ...1985 Volume 21 Issue 7 Pages 747-753
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe present paper deals with an optimal planning for operating an oxygen plant. The plant consists of air turbo compressors and separators, and produces several kinds of gases used in a steel making process. For reducing energy loss and operating cost, we need to operate each equipment in the plant with due regard to optimizing the combination of the equipments. This idea is important especially under the situation where some redundant equipments exist according to lowering of demand.
The problem is formulated mathematically as a mixed-integer linear program with an angular structure. Then the decomposition algorithm proposed previously is applied to the problem in order to obtain a good suboptimal solution quickly. The procedure is to solve a restricted master program and subproblems iteratively. The master program is a linear program and the subproblems are mixed-integer programs with a single binary variable. Therefore, we need only a subroutine of the revised simplex method for solving these problems. Furthermore, the algorithm is revised by introducing a heuristic idea to adapt to the present problem.
Comparisons are made among several algorithms for the numerical examples which are given by assigning real demand conditions. It is observed from the results that the proposed decomposition algorithm is more efficient than the one being currently used from the viewpoints of the computation time and the accuracy.View full abstractDownload PDF (944K) -
Takehiro MORI, Hideki KOKAME1985 Volume 21 Issue 7 Pages 754-755
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (223K) -
Toru OKANUMA, Yasuo TACHIBANA1985 Volume 21 Issue 7 Pages 756-758
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (378K) -
Mitsuaki ISHITOBI, Zenta IWAI, Akira INOUE, Hidekatsu TOKUMARU1985 Volume 21 Issue 7 Pages 759-761
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (388K) -
Hiroshi YAMADA1985 Volume 21 Issue 7 Pages 762-764
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (365K) -
Akira IKEDA, Shigeki NAKAYAMA, Hiroyoshi YAMASAKI, Yoshinori ANZAI1985 Volume 21 Issue 7 Pages 765-767
Published: July 30, 1985
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (952K)
- |<
- <
- 1
- >
- >|