計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
22 巻, 10 号
選択された号の論文の20件中1~20を表示しています
  • 観測量と制御量が異なる場合
    杉江 俊治, 原 辰次, 小野 敏郎
    1986 年 22 巻 10 号 p. 1007-1013
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, we solve a robust servo problem for the general two-degree-of-freedom control systems whose measured variables are not coincident with the output to be controlled. Firstly, a necessary and sufficient condition for the two-degree-of-freedom compensator to achieve robust servo systems with internal stability is derived. Secondly, an existence condition of such a compensator is derived. Thirdly, the set of all such compensators is clarified, using two independent parameters which determine the system transfer matrix and the feedback properties, respectively.
  • 野上 博志, 前田 肇, M. VIDYASAGAR, 児玉 慎三
    1986 年 22 巻 10 号 p. 1014-1021
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper discusses the problem of designing high gain feedback systems with robust stability.
    Concerned with disturbance attenuation and/or transient response, it is known that a high gain feedback control is of great worth. However, to make a high gain feedback scheme more reliable, it is important to consider the robust stability problem against plant perturbation.
    In this paper we suppose that the feedback system has a nonlinear feedback gain k(y)/y≥1 as a high gain element, and has the SISO plant with uncertainty of the class of M(p0, r) ={p:p=(1+l)p0, |l()|≤|r(jω)|, ∀ω∈R, l does not change the number of unstable poles}, where p0 and l denote the nominal plant and perturbation, respectively, and are proper real rational functions.
    We call a triple (p0, c, r) is robustly positive real if pc/(1+pc) is stable and positive real for all plant in M(p0, r). It is obvious, from passivity theorem, that the robust positive reality of (p0, c, r) guarantees the stability of the feedback system for all nonlinear gain k(y)/y≥1 and for all perturbation in M(p0, r). Hence we only deal with the problem of designing a compensator which achieves robust positive realness.
    The main results of this paper are essentially stated as follows. A given triple (p0, c, r) is robustly positive real if and only if the following conditions hold.
    1) c stabilizes p0, 2) |r(jω)||a0(jω)|<1, ∀ω∈Re and 3) |r(jω)||t0(jω)|+|1-t0(jω)|≤1, ∀ω∈R, where a0:=p0c/(1+p0c), t0:=2p0c/(1+2p0c).
    As for the realizability of compensators, we show the following result. Suppose that the roots of |r(jω)|2-1=0 are finitely many and are with multiplicities ≤2. Then for a given pair (p0, r) there exists a compensator that attains robust positive realness if and only if the followings are satisfied:
    1) p0 has neither finite zeros in the open right-half plane nor, multiple -axis zeros (including j), 2) |r(jω)|{=0, for -axis zero of p0, <1, for jω-axis pole of p0, ≤1, elsewhere.
    It should be noted that the modeling error must be less than or equal to 100% and, in particular, must be zero at the -axis zeros of p0 for achieving the robust positive realness.
  • 誤差方程式の伝達関数が1の場合
    田中 幹也, 鈴木 隆
    1986 年 22 巻 10 号 p. 1022-1029
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper discusses the robustness of a class of continuous-time model reference adaptive control systems (MRACS) in the presence of parasitics, where transfer function of the error equation is proper, to be more specific, 1 and adaptive law is integral-proportional type.
    First, the linearization and the singular perturbation techniques are introduced to analyze the robustness property and the following conclusion is led. The conventional MRACS remains locally stable in the presence of small parasitics, provided that the internal signal is persistently exciting.
    Second, it is shown that above MRACS is superior to the one characterized by an error equation with strictly proper transfer function from a viewpoint of robustness property in the presence of parasitics.
    Last, these results are confirmed by simple examples and simulation studies.
  • 新時間軸での線形化
    三平 満司, 古田 勝久
    1986 年 22 巻 10 号 p. 1030-1036
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, we are concerned with the linearization in a new time scale‘τ’, which is defined as dt/dτ=s(x). It is shown that there exist nonlinear systems which cannot be linearized in the ordinary time scale ‘t’ but can be linearized in a new time scale ‘τ’. Because the new time scale ‘τ’ does not go backward against the actual time ‘t’, controllers which stabilize the system written in the new time scale ‘τ’ also stabilize the actual system. So it is meaningful, in the sense of stability, to be concerned with the linearization in the new time scale.
    We define ‘wide-sense feedback equivalence’ in order to study the linearization in some time scale, and derive the conditions for the system to be wide-sense feedback equivalent to a linear system. In this case, time scaling function which make system linear is derived as the solution of the differential equations.
  • 趙 強福, 川又 政征, 樋口 龍雄
    1986 年 22 巻 10 号 p. 1037-1042
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    Synthesis of state-space digital filters (SSDF) with small quantization errors is a very important problem in digital filter design, when filters are to be implemented with short register lengths and stable performances. Although synthesis methods of optimal realizations have been proposed, the structural properties of optimal realizations are still unknown in detail. Thus, optimal realizations can not be synthesized efficiently by existing methods.
    The controllability and the observability gramians as well as the second order modes of digital filters play an important role in the synthesis of optimal realizations. Therefore, it is reasonable to investigate these quantities first in order to gain some insight into the structural properties of optimal realizations. This paper shows that optimal realizations are scaled and rotated balanced realizations, which have been studied extensively in the linear system context. This relation between optimal realizations and balanced realizations suggests that optimal realizations could have most of the properties which balanced realizations have. One of the most important properties is that optimal realizations are limit-cycle free, and this is proved simply by using the above relation. Applying these results to digital filter design, we propose a direct design method in the time domain. This method simplifies the traditional two-step (approximation and synthesis) design into a one-step design with less computational complexity. The resulting filters can approximate given impulse responses closely, and they are suboptimal and limit-cycle free. The efficiency of the direct design method is shown by a numerical example.
  • 花崎 泉, 小池 建郎, 秋月 影雄
    1986 年 22 巻 10 号 p. 1043-1050
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    In identification of linear discrete timeinvariant systems, there are some systems whose parameters are difficult to be estimated by least square method (LS) under the condition that unbiased consistent estimators are given. The problem of parameter estimation by LS reduces to numerical analysis of simultaneous linear equation. In this paper, it is shown that these systems have large condition number of data matrix which is the coefficient matrix of the simultaneous linear equation to be solved. Further, in these systems, it is pointed out that the estimated parameters by recursive least square method (RLS) converge to the true values of system parameters, but numerical unstable phenomena often appear in RLS algorithm.
  • 田中 英夫, 和多田 淳三, 林 勲
    1986 年 22 巻 10 号 p. 1051-1057
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    Since fuzzy data can be regarded as distribution of possibility, three different formulations of fuzzy linear regression analysis are proposed by possibilistic linear systems. Fuzzy data are given by expert knowledge and it becomes recently important to deal with fuzzy data.
    Three formulations called Min Problem, Max Problem and Conjunction Problem have been defined based on the following relations:
    [Yi]h⊆[Yi]h, [Yi]h⊆[Yi]h, [Yi]h∩[Yi]h≠φwhere [Yi]h is h-level set of fuzzy output data and [Yi]h, [Yi]h and [Yi]h are h-level sets of estimated fuzzy outputs in Min, Max and Conjunction Problems, respectively. The estimated fuzzy output Yi in Min Problem includes fuzzy output data Yi, Yi in Max Problem is included in Yi and the intersection of Yi in Conjunction Problem and Yi is not null in h-level sets, respectively. Three problems can be reduced to linear programming problems. Thus, the merit of these formulations is to be able to obtain easily fuzzy parameters in possibilistic linear systems by solving the linear programming problem and to add another constraint conditions which might be obtained from expert knowledge of fuzzy parameters.
    In this paper, the mutual relations of three formulations are discussed to clarify the properties of fuzzy data analysis. There is a solution in the Min Problem and the Conjunction Problem, but it is not assured that there exists a solution in Max Problem. If there is a solution in the Max Problem, we have[Yi]h⊇[Yi]⊇⊇[Yi]h⊇[Yi]hThese properties are illustrated in numerical examples. This approach for dealing with fuzzy data can be regarded as a fuzzy interval analysis.
  • 熊丸 耕介, Torsten SÖDERSTRÖM
    1986 年 22 巻 10 号 p. 1058-1065
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, some applications of Kullback Discrimination Information (KDI) to fault detection and model validation are developed for black-box type dynamical systems. Based on a general input-output model structure, the system is identified using data from distinct time intervals of finite but fairly large sets. Two models obtained are compared with the KDI defined by likelihood functions corresponding to the models, then the problem leads to model discrimination. An iterative scheme is derived for a feasible evaluation of the KDI with large data sets by using a Bayesian approach to likelihood functions. From the results several new criteria are introduced for model discrimination and they can be effectively used for batch fault detection and for model cross-validation in a thresholding approach. For a reasonable selection of a threshold value, statistical properties of the criteria are analized using asymptotic properties of model parameter estimates. Finally to confirm the effectiveness of the method, some simulation studies on fault detection and model validation are considered for a second order oscillator system.
  • 安信 誠二
    1986 年 22 巻 10 号 p. 1066-1073
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    A fuzzy set allows objects to have grades of membership from 0 to 1, and it is useful to define the subjective ambiguity of people. A fuzzy logic control is aimed at using this to incorporate human intellectual actions in control programs. A predictive fuzzy control which predicts the result and selects the most adequate control rules based on a skillful human operator's experience, had been proposed and applied to automatic train operation systems of a subway system.
    In this paper, the predictive fuzzy control scheme is applied to a container crane operation by witch containers are carried between a container ship and a trailer. The crane is still operated by skillful human operators. So an automatic crane operation system is strongly required.
    A conventional method had been proposed with a linearlized control algorithm and a target velocity pattern of a trolly on the crane. However, it is difficult to control the crane for a practical use.
    The newly developed fuzzy controller evaluates performance indices such as; safety, stop gap, residual sway and carrying time. And the control rules are based on a skillful operator's knowledge. The simulation results show the crane is controlled with the same way as the skillful operator does; it saves 30% of cargos handling time compared with the conventional control scheme. And it is confirmed that the fuzzy controller is applied effectively to an actual container crane operation.
  • 尾崎 弘明, 秀田 保, 山本 元司, 毛利 彰
    1986 年 22 巻 10 号 p. 1074-1080
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper discusses how to plan shortenedtime trajectories of manipulator joints with geometric path constraints in consideration of physical constraints based on manipulator and actuator dynamics. A time scale factor is introduced to formalize the problem as follows: A set of joint trajectories, called reference trajectories, is used to realize the specified geometric path. The time scale factor is defined as a function of time describing the set of reference trajectories. All the sets of trajectories realizing the geometric path are expressed by means of the time scale factor. The problem of planning the shortened-time trajectories is then transferred into the simple one to decide the time scale factor.
    An algorithm which iteratively shortens the traveling time of trajectories is proposed to solve the formalized problem. This algorithm is a feasible method and needs a little time of computation. An example of planning the trajectories of the manipulator with four degrees of freedom shows its effectiveness. The algorithm to obtain the minimum-time trajectories is also presented.
  • 力学モデルによる腸管運動の解析
    梅谷 陽二, 伊能 教夫
    1986 年 22 巻 10 号 p. 1081-1086
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    Peristalsis is one of the major mechanisms of fluid transport in many biological systems. The transport phenomena by peristalsis has recently become an object of engineers' interests, and many studies have been reported from fluid mechanical view points. The typical fluid transport model assumes peristalsis to be an infinite sinusoidal wave train traveling along the tube. However, the model is not appropriate for the analysis of actual intestinal movements because it can not represent such a motion that the wall of the tube is stretched by the intraluminal pressure.
    The purpose of this study is to propose a new model which can evaluate the mechanical events of in vivo intestinal movements. The new model consists of a train of cylindrical short segments in consideration of mechanical property of the wall. Each segment contracts or expands according to the force difference between the circumferential tension of the wall and the intraluminal pressure.
    This paper shows that the proposed model is described by simple matrix representation, and it gives proper mechanical events of various types of movements such as peristalsis or rhythmic segmentation.
  • 横田 達也, 藤村 貞夫, 豊田 弘道
    1986 年 22 巻 10 号 p. 1087-1093
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    Described is a method for extracting the spatial pattern of the amount of radiation absorbers in IR region (substantially CO2 and H2O) from remotely sensed data. The radiance estimated from the data is determined by three independent factors. The factors are the transmittance of the atmosphere determined by the amount of the absorbers, the terrestrial surface temperature, and the atmospheric effective temperature. The transmittance varies with wavelength, and the others are assumed to be independent of wavelength. Hence three IR bands, (4.3-5.5μm, 4.5-4.9μm, and 10.5-12.5μm are used here), are necessary to obtain the pattern.
    By computer simulation and field experiments, it is confirmed that the ratio of the difference of radiance between two spectral bands (W(10.5-12.5μm)-W(4.5-4.9μm))/(W(10.5-12.5μm)-W(4.3-5.5μm)) is an increasing function of the amount of the radiation absorbers. The band selection algorithm is also proposed.
    Strictly speaking, the atmospheric effective temperature depends on a spectral band used for observation. Thus three spectral bands mean three effective temperatures. This causes the variance in the results. The possible variance is estimated with computer simulation by using LOWTRAN 5, and is shown to be comparable to the variance seen in the results of the field experiments.
  • 鈴木 新一, 草鹿 履一郎
    1986 年 22 巻 10 号 p. 1094-1100
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    Pulsed holographic microscopy is applied to taking instantaneous photomicrograph of the neighborhood of crack tip which is propagating in a PMMA plate specimen at a speed of several hundred meters per second.
    We use two types of holographic recording system with Q-switched ruby laser to record an instant of time of fast propagating crack. One records scattered light from new crack surfaces as object light, the other specularly reflected light from specimen surfaces. Both recording systems are applicable not only to transparent specimen but also to opaque one. Photomicrograph is made with a conventional microscope to magnify the reconstructed image from a hologram of fast propagating crack.
    From each photomicrograph obtained, crack opening displacement is measured as a function of distance from crack tip along the crack, and is of the order of ten microns. As a result, it is recognized that crack opening displacement is in proportion to square root of the distance from crack tip. This fact agrees with theoretical prediction of linear elastic fracture mechanics.
  • 岡田 英史, 南谷 晴之
    1986 年 22 巻 10 号 p. 1101-1106
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    On the measurement of velocity of moving solid surface by using a laser Doppler velocimeter (LDV), diffuse and specular reflection can be observed in the back scattering region. Since the specular reflection (SR) is followed by the law of geometrical optics, direction of the reflected beam changes With the moving angle of solid surface. However, the utilization of SR has never been considered on the LDV measurement.
    In this study, we proposed a new differential method of LDV, in which the SR beam was again reflected by means of a mirror (specular re-reflection, SRR) and arranged to enter into the sampling volume as an incident light. As consequence by crossing three laser beams (SR and two inherent incident beams) in the focal, point, three different interference were constructed in the sampling volume. When scatters pass through the sampling volume, scattered light emits and involves three different Doppler frequency shifts which give an information regarding the velocity of the solid surface and the moving angle.
    In the present paper, theoretical investigation was carried out about the effect of SRR on the Doppler signals correlated with the moving angle of the solid surface. Fundamental experiment was also carried out by using a rotating disk and the results were compared with the theoretical aspects. Application of the Doppler effect caused by SRR was additionally discussed.
  • David C. YU, John E. FAGAN
    1986 年 22 巻 10 号 p. 1107-1111
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper presents a new idea about how to solve optimal load flow problems. A new model is implemented using linear and separable programming techniques. It incorporates network performance variables such as scheduled bus voltages as well as topological and elemental constraints.
    Furthermore, this paper includes a discussion of the performance constraints of the network and implementation into the operations research (O.R.) model. It explores the development and optimality of the model. Example problems are implemented and solved. Detailed discussions about the ability of the model to work under a wide variety of network contingencies, such as loss of generation and loss of line, are also presented.
  • 吉田 和信, 西村 行雄, 米澤 洋
    1986 年 22 巻 10 号 p. 1112-1114
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
  • 増田 達也, 宗像 浩一, 藤井 克彦
    1986 年 22 巻 10 号 p. 1115-1117
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
  • 新宮 博公
    1986 年 22 巻 10 号 p. 1118-1120
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
  • 大槻 治明, 浅田 春比古
    1986 年 22 巻 10 号 p. 1121-1123
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
  • 安達 正明, 八坂 勝彦, 川口 格
    1986 年 22 巻 10 号 p. 1124-1126
    発行日: 1986/10/30
    公開日: 2009/03/27
    ジャーナル フリー
feedback
Top