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Volume 22, Issue 1
Displaying 1-19 of 19 articles from this issue
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Tsutomu MORIUCHI, Hiroshi KASHIWAGI1986 Volume 22 Issue 1 Pages 1-7
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSSome basic properties of M-arrays are described. M-array is a two dimensional array in which an M-sequence is arranged under a certain rule.
Based on the fact that an M-sequence is represented by the tcace of a finite field, the row sequences or the column sequences in the M-array are explicitly expressed by use of the trace.
Using this expression, the authors show theoretically some of the basic properties of M-array, such as
(1) the column sequences of M-array are either M-sequences of small degree or zero sequences,
(2) the row sequences of M-array are nonmaximum length sequences of the same degree but all different,
(3) for even degree M-sequence, M-array is symmetrical with respect to a zero columm when only one zero column exists, and so on.View full abstractDownload PDF (842K) -
Kohji HIGUCHI1986 Volume 22 Issue 1 Pages 8-15
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSTagawa has proposed a new type controller which is called the utmost compensation type controller. The parameter design method of this controller has been already proposed by Tagawa et. al. But, the method has the following three weak points, i.e. (1) as the error system results unobservable, adequate evaluation of the error is difficult, (2) as the error system has zeros at the origin and the initial values of the uncontrollable states are not zero, the small amplitude of the error cannot be attained, (3) for the reference input and disturbence which are functions of time, the zeros cannot be placed equal to optimal values.
In this paper, the author propose a new parameter design method by which the above weak points are overcome. The basic idea of this new method is that, firstly. modify Bhattacharyya's et. al. method and derive a new type optimal servo system, next, derive the utmost compensation type controller by transforming the new servo system equally. Here, first of all, it is clarified that Bhattacharyya's et. al. method can be extended to such cases that the unknown parameters by which the zeros are placed are included in the error system. As a result, it is shown that the new type optimal servo system is derived and both the poles and zeros of the system can be placed so as to minimize the same quadratic performance index. Next, it is shown that the utmost compensation type controller is derived by transforming linearly this new servo system into the (p+1) type and output feedback system. The linear trasformation matrix is also shown. Finally, numerical examples are shown and the effectiveness of the proposed method is certained by compariug this method with Tagawa's et. al. one.View full abstractDownload PDF (915K) -
Hiroyuki KAJIWARA, Katsuhisa FURUTA1986 Volume 22 Issue 1 Pages 16-22
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the problem to design a state feedback law which provides the closed-loop system with lower sensitivity property. Gain curves are defined by taking dB-values of singular values of the return difference matrix on imaginary axis in complex plane, and gain band is defined as the band which consists of area between the largest gain curve and the smallest gain curve. It is shown that in order to achieve lower sensitivity property, the smallest gain curve should be at higher position and then the gain band should be nallower. It is well known that the state feedback is obtained by solving the pole assignment problem. There are two kinds of free parameters, i.e., (1) poles to be assigned and (2) directions of eigenvector of the closed-loop system, whose specifications give the unique solution of the problem It is shown that the arithmatic mean of gain curves, which is called mean gain curve, depends upon the first freedom only and therefore the distribution of gain curves around mean gain curve depends upon the second freedom after fixing the first freedom. Based on the facts, the visual method is proposed to adjust the first freedom, observing the effects of poles to the mean gain surface defined by extending mean gain curve in the direction of real axis. Using this method, the mean gain curve should be lifted. After fixing the first freedom, the method is proposed to adjust the second freedom, using quasi-Newton method so that nallower gain band is achieved. As the results, the closed loop system with lower sensitivity property can be obtained.View full abstractDownload PDF (906K) -
Masayuki FUJITA, Etsujiro SHIMEMURA1986 Volume 22 Issue 1 Pages 23-29
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with a method of a synthesis of a linear multi-input state feedback control system which possesses integrity with respect to the failure in the specified input channels. The method uses a positive semidefinite matrix which satisfies a kind of Riccati type equation and the system is stabilized with the desired degree of stability as well as possessing integrity against specified actuator failure. Furthermore, it is shown that the closed-loop system has some good properties of a feedback control system such as enough stability margin and low sensitivity, using the minimum singular value of the return difference and inverse-return difference matrices. Finally the effectiveness of the method is demonstrated with a numerical example.View full abstractDownload PDF (818K) -
Tadashi INOUE, Satoshi OCHI, Takahito SAITOH1986 Volume 22 Issue 1 Pages 30-35
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe transient response of a positioning servo is improved as it repeats a sequence of motions. To this end, a discrete-time controller is added to the servomechanism. The controller detects a fixed number of samples of control error after each change of reference level. The sampled error is processed to modify the manipulating signal in the next cycle of the motions. This control action causes the response of the servomechanism to converge to a series of dead-beat responses.
Unlike conventional dead-beat control methods that require accurate modeling of the controlled system, the proposed control permits a controller design based on an approximate model, and is expected to hold the dead-beat response in the presence of parameter perturbations. A simulation result shows that one can improve the transient response appreciably even with a reduced-order model of the plant.
Though single-input single-output case is discussed in the paper, the treatment and the results are directly applicable to multivariable cases.View full abstractDownload PDF (866K) -
Shinji HARA, Tohru OMATA, Michio NAKANO1986 Volume 22 Issue 1 Pages 36-42
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe repetitive control is a control scheme, in which the controlled variables follow the periodic reference commands with high accuracy under disturbance input with the same periods. The asymptotic tracking property can be achieved by locating the model 1/(1-exp(-Ls)), which generates a set of periodic signals with period L, in the closed-loop system. The error convergence condition, or the stability condition, is derived by applying the small gain theorem to an equivalent system of the repetitive control system. This condition is closely related to the generalized frequency domain optimality inequality for the Kalman filter and the optimal regulator. A synthesis algorithm using the methods of the Kalman filter and the parfect regulation is presented based on the derived stability condition. Furthermore, we propose a realizable repetitive control system with specified stability margins, which tracks only for periodic signals with lower freqency band, and properties such as error convergence, steady-state error, sensitivity and robustness are discussed.View full abstractDownload PDF (887K) -
Tadashi ISHIHARA, Ken'ichi ABE, Hiroshi TAKEDA1986 Volume 22 Issue 1 Pages 43-49
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRepetitive controllers based on trial and correction method have been successfully utilized to achieve desired output trajectories of various mechatronic systems. However, arbitrary use of these controllers often results in intolerable increase of the output error in transient trial stages, which restricts potential applicability of these controllers. No systematic design procedures to overcome this drawback have been proposed so far.
In this paper, a design of a class of repetitive controllers for discrete-time linear systems is considered. The conditions that some natural norms of the output error sequence decrease monotonically as the number of the trials increases are examined. A simple design method is proposed, which determines the coefficients of the error correction algorithm from finite sequece of the impulse response of the plant. Excessive increase of the output error in transient trial stages can be prevented by appropriate use of this design method. The relationship between the proposed design method and approximate inverse models of the plant is clarified. A numerical example is given to illustrate the effectiveness of the proposed method.View full abstractDownload PDF (999K) -
Yutaka TOMITA, A.A.H. DAMEN, P. Van den HOF1986 Volume 22 Issue 1 Pages 50-55
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFor the identification of linear system on the basis of both input and output data, equation error methods (EEM) (often indicated as prediction error methods) are frequently used rather than output error methods (OEM) This is mainly caused by the fact that the minimum of the EE-criterion can easily be found, in contrast to the OE-criterion which often displays multiple local minima.
Nevertheless we have the impression that for many applications (simulation, diagnosis, control) a proper fit of the impulse response witch corresponds to an OEM is indispensable.
In fact for both methods the model set for the input-output behaviour of the system under study is the same, except for the point where the disturbances are supposed to enter. It is this similarity that often leads to an inconsiderate use of the identification results for various applications irrespective of the chosen identifidation criterion.
In many practical situations the real system under study will be of infinite order which implies that the systems will result in essentially different models based on either EEM or OEM identification. We will try to characterize this class of systems and give some examples.
Next we want to discuss the impact of this discrepancy on applications.View full abstractDownload PDF (729K) -
Sadao KAWAMURA, Fumio MIYAZAKI, Suguru ARIMOTO1986 Volume 22 Issue 1 Pages 56-62
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSGiven a desired output for a dynamical system whose paraneters are unknown, it is not easy in general to find out the input which generates the desired output, To overcome this difficulty, we propose a learning control scheme for such a dynamical system when desired outputs are given over a finite time interval [0, T]. In this control scheme, the input at present operation is modefied by the error at previous operation which is the difference between the desired output and the system response. Repeating these operations, the input which can eventually generate the desired output is constructed if some conditions for the dynamical system and the modification for the input are satisfied. It is theoretically shown that this learning control scheme can be applied to a class of nonlinear multi-input and multi-output systems. Also this scheme is practically applied to a robot manipulator which has three degrees of freedom, and its effectiveness is assured by several experimental results.View full abstractDownload PDF (843K) -
Yasuzumi OCHIAI, Kazuyoshi OTOTAKE1986 Volume 22 Issue 1 Pages 63-68
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn recent years, step motors are widely used as digital actuators. The machine structures of step motors can be divided into permanent magnet type and variable reluctance type.
This paper presents the investigations on the analysis of dynamic performances of variable reluctance type step motor. In these investigations, it is shown that the solutions of phase modes of a step motor is derived from confluent hypergeometric equation. And measured one pulse response of a step motor can be approximated by the solutions of this equation. By analyzing this equation, the relations between the behaviors and the parameters are obtained.View full abstractDownload PDF (612K) -
Takashi MORITA, Yoshiyuki SAKAWA1986 Volume 22 Issue 1 Pages 69-75
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we first derive a dynamical model of a power shovel which consists of a boom, an arm, and a backet, each controlled by a hydraulic cylinder. One of the important task of the power shovel is to dig a sloped ground in such a way that the surface of the slope is as flat as possible in spite of the unknown force disturbance from the slope. If working conditions (angle of the slope, length of the slope, speed of the backet, etc.) are given, the rotation angles and the angular velocities of the boom, the arm, and the backet and the oil flow to each hydraulic cylinder can be calculated on the basis of the dynamical model.
Our control scheme is as follows: the calculated input oil flow signal to each hydraulic cylinder is given in the feedforward form, and the actual rotation angles and the angular velocities of the boom, the arm, and the backet are compared to the calculated values. The differences of the angles and the angular velocities are controlled by PID controllers in the feedback form.
Some simulation results are presented, which prove that our feedforward plus PID feedback control scheme works well in spite of the force disturbance from the slope.View full abstractDownload PDF (734K) -
Haruhisa KAWASAKI, Kunitoshi NISHIMURA1986 Volume 22 Issue 1 Pages 76-83
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSMost existing manipulator control schemes require that the dynamic model of a manipulator be precisely known. There are some control schemes like the adaptive control scheme which do not require a detailed description of the dynamic model. However, it is necessary to verify the effectiveness of these control schemes with an exact dynamic model before applying them to real system.
A dynamic model for a manipulator is defined using such mechanical parameters as the mass, center of mass, inertia tensor matrix and friction for each link. Usually, it is difficult to obtain exact values for these parameters.
This paper presents a parameter identification scheme for a mechanical manipulator modeled on an open-rigid-link-chained mechanism. Dynamic equations for the manipulators are nonlinear, however linear input-ouput equations for the kinetic parameters of dynamic equations have been developed. Kinetic parameters are estimated by an instrument variable method based on these input-output equations. It is shown by theorem and simulation results that the instrument variable method asmptotically yields consistent estimates of the parameters. Moreover, the effectiveness of the proposed method is verified by experimental results using a 6-degree-of-freedom manipulator.View full abstractDownload PDF (1509K) -
with Application to Multilink SystemYoshinori SUGANUMA, Masami ITO1986 Volume 22 Issue 1 Pages 84-91
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe paper discusses skill acquisition in control problems. A model for skill acquistion which uses a new method for knowledge representation and reasoning, is provided. This model is applied to the control of a multilink system and computer simulation is carried out. As a result, it is shown that this model can control one object (in this paper, 1- and 2- links system) by learning. Furthermore, the possibility of creating the machine which is able to control a similar system using reasoning by analogy is examined.View full abstractDownload PDF (1098K) -
Hidefumi KOBATAKE1986 Volume 22 Issue 1 Pages 92-97
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe principle that the true segmentation of an image consisting of more than one texture reginon corresponds to the division which gives the minimum of the Total Sum of Final Prediction Errors (TSFPE) holds if each texture can be described by a two-dimensional linear prediction model. This paper describes experimental studies on the effectiveness of an edge detection method for texture image based on this principle. Experiments show that estimated edge locations which minimize TSFPE correspond to the true edges precisely. Estimation error of edge location caused by statistical deviations can be reduced by applying wider processing area and combining results for two different prediction directions. Comparisons between this method and the simple minimization method of the total sum of squared prediction errors are also given, which show the superiority of the proposed method.View full abstractDownload PDF (1505K) -
Yoshikazu NISHIKAWA, Akihiko UDO1986 Volume 22 Issue 1 Pages 98-103
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecently, design problems of water distribution networks are getting larger and more complicated. To cope with difficulty of the problems, the authors have developed a method for designing newly-constructed networks, ones for irrigation which need to be more precisely and carefully designed than ones for city-water service. One of the prominent features of the method is that it enables us to consider explicitly the trade-off between enhancement of the distribution security (or reliability) and reduction of the construction cost. It has already been used for practical design of large networks, and has proved its excellent capability compared with conventional techniques
Based upon the fundamental idea of the above method, the present paper develops a design method for enlargement of existing networks. This is motivated by the fact that, nowadays in Japan, most of the city-water service networks are constructed by enlarging the old ones. Mathematically the problem is formulted into a nonlinear programming type. By choosing proper decision variables, mesh flow volumes, in the formulation and by noticing a feature of the problem structure, we present an efficient solution procedure which has sound feasibility even for large-scale networks. As the method inherits the fundamental virtues of the method previously mentioned, the concept of trade-off between security and cost is kept well in the design procedure.View full abstractDownload PDF (865K) -
Takashi MORIYAMA, Shuzo FUJII, Koichi ABE, Minoru KOBAYASHI1986 Volume 22 Issue 1 Pages 104-108
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe authors developed a proto-type of a mass flowmeter using heat transfer for dense flow.
It is very important for measuring and control of distributing feedstock into plural tuyeres of direct iron reduction process, coal gasifier, direct coal liquifer etc. as a new process.
The authors developed a noninstrusive differential temperature sensing method for the mass flow rate 0-1, 000kg/h, mass flow ratio 0-47.2kg/kg using heat transfer cylinder 0.5m length of transport pipe 0.0175mφ by elertric heater 202.5W. The relation between the mass flow, the heat transfer coefficient and the time constant of the meter are analyzed and measured.
For 100μm aluminium oxide powder, over all heat transfer coefficient is maximum 286 W/m 2K, the thermal efficiency from heater to the differential temperature is maximually 121% and the time constant of the meter is 1.5min for 1, 000kg/h.View full abstractDownload PDF (560K) -
Toru SUGAWARA, Shigeki TSUCHITANI, Noriyuki KINJO, Shuichi OHARA1986 Volume 22 Issue 1 Pages 109-116
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn electrical resistance type humidity sensor using ionic copolymers has been studied. A humidity sensitive layer of copolymer film was placed on a pair of combshaped electrodes on a ceramic plate. The ionic copolymers were synthesized from ionic and nonionic monomers in aqueous media.
The electrical resistance of ionic copolymers depended significantly not only on relative humidity, but also on mole fraction of ionic monomer to nonionic monomer. The resistances decreased exponentially with an increase in relative humidity, and they increased with decreasing of mole fraction of ionic monomer in copolymers.
In the sorption process, the humidity sensor responded quicker than in the desorption process. The difference of response in the desorption process remarkably depended on the kind of the copolymers. The response became quicker according to the order shown by hydrophobicity of ionic monomers used. Its cause is analyzed that the diffusion coefficient of water became larger. as loosing the bind between the water molecules adsorbed by copolymers and ionic groups.
The humidity-resistance characteristics of the sensor changed when it was exposed to high temperature atmosphere. The life time of the sensors depended significantly on the kind of ionic copolymers and temperature. The life time decreased exponentially with temperature rise.View full abstractDownload PDF (1555K) -
Masakatu MORII, Kyoki IMAMURA1986 Volume 22 Issue 1 Pages 117-118
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (277K) -
Satoshi FUJII, Minoru HAYASE1986 Volume 22 Issue 1 Pages 119-121
Published: January 30, 1986
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSDownload PDF (346K)
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