巻号一覧
22 巻, 11 号
選択された号の論文の20件中1～20を表示しています
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五郎丸 剛志, 花房 秀郎, 米澤 洋, 岩河 信裕1986 年 22 巻 11 号 p. 1129-1133
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new design method for PIDD2 type control system with the process represented by second-order lag plus dead time. The second-order lag plus dead time model mentioned above is widely used as a process model in the field of process industry.
In this PIDD2 controller, six adjustable parameters are included and are easily set by using the proposed design method based on the partial model matching principle. The design method, readjustment procedure of parameters and some examples of parameter setting for the PIDD2 control system are described in detail. In addition, it is shown that introduction of proper oscillation component into the manipulated variable is very effective from the viewpoint of improvement of the transient characteristics in the control system.
The effectiveness of the proposed design method was verified by experimental results of analog simulation.抄録全体を表示PDF形式でダウンロード (616K) -
西村 行雄, 米澤 洋, 櫛田 直規1986 年 22 巻 11 号 p. 1134-1141
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーIn the practical application of finite time settling control (FTSC) and/or dead beat control, undesiable effect such as reset wind-up may be occured by input saturation of a controled object. We propose a new design method of FTSC system as model reference type, in which compensator acts softly to reduce the error between object and reference model, and prescribed effect wouldn't occur. And reachability conditions of the control system with saturation are investigated. Then the response characteristics of the system designed by the proposed method are compared theoretically with those desiged by using modern and classical control theories. And some numerical examples are presented. It is shown that the proposed method is a little inferior to the modern one in respect to the settling time while there is no input saturation. But best of all in respect to the stability for the object with input saturation.抄録全体を表示PDF形式でダウンロード (984K) -
近藤 良, 原 辰次, 古田 勝久1986 年 22 巻 11 号 p. 1142-1148
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーIn servo systems, it is known empirically that stability margin at the error channel influences the characteristics of the response against reference command. This paper, therefore, presents a method of designing servo system, which has a certain specified stability margin at the output of servo compensator or the error channel.
The relation between the stability margin at the input of plant and the one at the output of servo compensator is derived, where the state feedback law for the augmented system of plant and servo compensator is determined using the solution of a generalized Riccati equation. The stability margin at the output of servo compensator can be specified by means of this relation and an adjusting parameter for the state feedback gain, and design guidance is proposed for improving the behavior of the response for command input. It is also shown that the servo system possessing integrity at the error channel or robust stability against saturation of integrator can be designed using the conventional Riccati equation for the augmented system.抄録全体を表示PDF形式でダウンロード (821K) -
一統一的アプローチ新中 新二, 鈴木 隆1986 年 22 巻 11 号 p. 1149-1155
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーAlthough a number of methods have been reported to design adaptive controllers for the plants described as linear time-invariant systems, a few as linear time-varying systems. However, these recent methods for time-varying plants require crucial design conditions on parameter varition of plants, dead-time, inverse stability, and their application to existing plants is restricted. This paper presents a new method to design adaptive controllers for linear time-varying plants, which does not require such conditions at all. It is such a general method as can be applied to the plants which others cannot and includes most of principal conventional ones as special cases.抄録全体を表示PDF形式でダウンロード (814K) -
足立 修一, 佐野 昭1986 年 22 巻 11 号 p. 1156-1161
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーThe least squares method is one of the most effective approaches for estimating an impulse response of discrete-time systems. However, when colored smooth input signals are utilized for parameter identification, the least squares estimates tend to fluctuate seriously and converge very slowly to their true values. In these circumstances, the corresponding normal equation becomes ill-conditioned and the mean square error (MSE) of estimates increases under the influence of small eigenvalues of the input autocovariance matrix.
In this paper, we consider an identification method in which a small positive number (we call it a weighting coefficient) is added to diagonal elements of the input autocovariance matrix so as to mitigate the ill-conditioning. Effects and the optimal choice of the weighting coefficient are analyzed by use of the eigenvalue decomposition. It is also clarified that the weighting coefficient can be determined so as to minimize the MSE of the estimates. Next, we extend the identification method to a recursive form and apply the idea of the proposed method to optimal choice of an initial value of the covariance matrix in the recursive least squares method. It is shown that, in a case of white input signals, the optimal initial value is given analytically in terms of variance of input signal, output SNR and an order of the impulse response.抄録全体を表示PDF形式でダウンロード (781K) -
砂原 善文, 石川 昌明, 藤本 誠1986 年 22 巻 11 号 p. 1162-1168
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to study the state estimate for a class of stochastic distributed parameter systems with the boundary input. First, the mathematical model of the stochastic distributed parameter system is formulated by the stochastic variational inequality in Hilbert space. Applying the regularization method to the stochastic variational inequality, the existence and uniqueness theorems of the solution are established. Secondly, the dynamics of state estimate is given in the sense of minimizing the mean square estimation error bound under a distributed noisy observation. Finally, for the purpose of supporting theoretical aspects developed here, an illustrative example is shown, including results of digital simulation experiments.抄録全体を表示PDF形式でダウンロード (717K) -
今村 昭彦, 西田 直矩1986 年 22 巻 11 号 p. 1169-1174
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーWhile continuous parametric analysis is of some interest in integer linear programming, it is desirable to deal with parametric integer programming problems which include multiple parameters for the right-hand sides or objective function coefficients in the model. Because, by the introduction of multiple parameters into the integer linear model, the interdependences among the entire system, its environment and the subsystems can be varied. Thus, multipara-metric programming can become an important tool for solving various problems arising in design and/or control of real life engineering systems.
Although several literature on parametric integer programming (PIP) with single parameter for the right-hand sides or objective function coefficients have been published, no work has been done on PIP with multiple parameters in the model.
The purpose of this paper is to present an effective method for finding optimal solution of parametric mixed integer linear programming with multiple parameters for the objective function coefficients. The present method is an extension of the branch-and-bound algo-rithm for 0-1 parametric mixed integer programming with single parameter. In order to solve a subproblem defined on each node of the branch-and-bound tree, a relaxation problem is defined, which is formulated as a multiparametric linear programming. For each node, a range set of multiple parameters is defined and it must be convex. Otherwise, thealgorithm for solving the multiparametric linear programming cannot be applied. To construct the convex set of parameters for each node, parameter regions obtained by solving the multiparametric linear programming are effectively used. To show the effectiveness of the present method, a factility location problem is considered, where the objective function coefficients are varied continuously by the ntroduction of multiple parameters.抄録全体を表示PDF形式でダウンロード (772K) -
玉置 研二, 大石 潔, 大西 公平, 宮地 邦夫1986 年 22 巻 11 号 p. 1175-1182
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーDC servo motor has been widely used for industrial robot manipulators. The dynamics of a robot manipulator varies largely; in particular, the inertia varies by changing the attitude and grasping objects. Nevertheless, conventional servo controllers (e.g. proportional controller) has not been taking large parameter variations into account, because these variations at the motor shaft appear negligible by the high ratio gear. However the high ratio gear has also the demerits, such as friction, deflection, backlash and so on, therefore for better and faster performance of a robot manipulator, the number and ratio of the gears tend to be decreased and the perfection of this effort may reach a direct drive arm. In such a system, the servo controller should play a role by itself to reduce the sensitivity against the parameter variations and the disturbance.
In this paper, the insensitive servo controller to suppress the influence of the parameter variations on the desirable transient response is realized by applying the two-degrees-of-freedom configuration. The significant feature of the two-degrees-of-freedom configuration is that the system sensitivity function and the system transfer function can be independently determined. Here, the two-degrees-of-freedom control system of DC servo motor is based on the new insensitive compensator, which is called the passive adaptive controller; that is combined with a conventional position servo controller.
The method to realize the two-degrees-of-freedom control system in a discrete type of system is also derived by taking attention to the one sampling delay due to the calculation time, and the stabilizing condition is shown.
Experimental results show that the proposed control system is valid and robust from the view point of the sensitivity reduction against the parameter variations and the torque distur-bance.抄録全体を表示PDF形式でダウンロード (1230K) -
石井 威望, 井口 雅一, 廣瀬 通孝, 藤岡 健彦, 岩田 洋夫1986 年 22 巻 11 号 p. 1183-1188
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーGraphic display is an effective device for an automobile driver to get information. A driver, however, must pay attention to the outer environment, so there is not enough time to see the display. This paper describes an effective method of presenting graphic information to an automobile driver.
First, the graphic display is activated by fixation of the driver. The visual performance is measured by image processing of the driver's face. The driver's line of vision is detected by a position of the eye.
Second, optimum quantity of displayed information is determined by a model of a human visual information processing. The model describes the relationship between complexity of a displayed image and required time for the driver to understand it. Graphic image is designed by this model, so that the driver can get the information at a glance.抄録全体を表示PDF形式でダウンロード (1927K) -
川田 豊, 日下 卓也, 井上 憲一, 今田 紘, 宮川 裕1986 年 22 巻 11 号 p. 1189-1195
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーA new method has been developed for decreasing the fixed error in a conventional FM-CW radar, with a view to developing a burden level meter in a blast furnace.
In this method, a sinusoidal wave of angular frequency ω1 is mixed to the beat signal, whose frequency is proportional to the measured distance, and the upper side band is detected. Next, another sinusoidal wave of angular frequency ω2 is mixed to the upper side band, and filtered to produce the lower side band.
In this manner, the term of (ω1-ω2)t is added to the phase of the beat signal, that is, the phase of the beat signal is modulated to a degree of 2π in a period of 2π/(ω1-ω2). During one cycle of this phase modulation, the numbers of zerocrossings of the beat signal are averaged and so the fixed error is reduced.
When the maximum frequency deviation was 80MHz, the standard deviation of the residual error was found to be less than 20mm, while the fixed error in the conventional FM radar is 450mm. And even when coke and ore was used as targets, the distance was measured with an accuracy of 50mm. Thus this method was found to be sufficiently accurate for level measurement in a blast furnace.
Since this method requires merely a narrow frequency band, the configuration of the radar is simple and compact.
This burden level meter is now in successful operation in a blast furnace at Kakogawa Works of Kobe Steel, Ltd..抄録全体を表示PDF形式でダウンロード (1882K) -
肥後 尚志, 川村 直毅, 室井 徳雄1986 年 22 巻 11 号 p. 1196-1203
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we discuss about the optical phase measurement of optical fiber sensing system with coherent light sources by zero fringe homodyne interferometry (ZFM).
Authors present zero fringe integration method (ZFIM) as modified ZFM. Zero interference fringe is obtained by superimposing the optic axis, wavefront and polarization direction of the signal and reference optical waves. The optical phase of signal wave is evaluated by calculating the arctangent value of the intensity ratio of zero fringes with phase difference of π/2 each other. By using the sign of differential value of the arctangent function with respect to time, it is distinguished whether the optical phase is increasing or decreasing. The value of phase shifting range from zero to (1/2+n)π is obtained by summing the differential value and adding ±nπ to the summation, which plus and minus sign and the end of periode of phase shift n are determined by using the discontinuity of arctangent function.
Next, we manufactured the optical phase measurement apparatus for trial due to the ZFIM and experimentally examined the optical phase measurement by putting strain on the birefringent optical fiber length along. As the results, we measured the strain of 2.5×10-6-0.2×10-6, or the phase shift of 5.5-0.5 rad, and showed that ZFIM is useful for optical phase measurement of fiber sensing system by using homodyne interferometry.抄録全体を表示PDF形式でダウンロード (1563K) -
リングパターン照射による方法木下 源一郎, 出澤 正徳1986 年 22 巻 11 号 p. 1204-1209
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーA new type of optical range sensing method is proposed. A conical light sheet is projected onto the surface of an object to be tested through an objective lens and a bright ring pattern is produced. The position of the objective lens is controlled so that the emanating point of the conical light sheet and the bright ring pattern on the object surface are satisfied imaging condition each other against the objective lens, that is, so that the bright ring pattern becomes a fine spot. The position of the objective lens, where the best imaging condition is satisfied, is detected and distance is calculated by using the imaging formula of the objective lens. The best imaging condition is detected by observing received light power from the image of the bright ring pattern through the objective lens and a pinhole which is placed on the observation plane. Higher detection sensitivity comparing to the ordinary method is expected by theoretical consideration.
A prototype of range sensor based on the proposed method is manufactured and experimental results support the theoretical analysis. The body size of the prototype, in which 2.0mW He-Ne gas laser is adopted as a light source, is 342mm (length)×130mm (width)×174mm (height) and its weight is 5kg. The size seems bigger for robot sensor, however, it is possible to miniaturize the range sensorbased on the proposed method by adopting laser diode as a light source.抄録全体を表示PDF形式でダウンロード (796K) -
八木 康男1986 年 22 巻 11 号 p. 1210-1214
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーMulti·grafted thermometer is a grafted thermometer composed of a bimetal thermometer and two thermocouples of different kinds.
The temperature of the bimetal is so controlled that the temperature difference of the measured body and the bimetal is equal to a set value.
In this case, the temperature of the connected portion of the two thermocouples needs not be kept at a set temperature.
It is proved theoretically that the temperature to be measured is obtainable by the bimetal thermometer under a set value of the temperature difference.
Experiments are carried out with four typical multi·grafted thermometers.
The results of experiments show that the temperatures obtained by the trial multi·grafted thermometers agree fairly well with those by a thermoelectric thermometer of the main thermocouple alone with reference temperature of 0°C.抄録全体を表示PDF形式でダウンロード (664K) -
伊藤 一造, 大木 眞一1986 年 22 巻 11 号 p. 1215-1221
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーThe indirect mass flowrate masurement has been widely used, combining volumetric flowmeters with temperature and/or pressure compensation of fluid density.
Meanwhile, this approach has such disadvantages as complicated compensating algorithm and the restriction that the approach is only applicable to ideal gases, except for highly pressurised gases, etc.. Mass flowmeter for direct mass flow measurement is more suitable to overcome these defects.
The authors propose one of the direct mass flow measurement approach, applying vortex flowmeter. That is to say, Karman vorteces are generated by a vortex shedder and fluctuating lift and its frequency are detected by the stress sensors built in the vortex shedder. The amount of the lift is divided by the frequency to yield signals proportional to mass flowrate.
The proposed sensing approach features simplicity both in principle and in sensor constuction.
As a result of applying this approach to water, air, and heavy oil, satisfactory results are obtained.抄録全体を表示PDF形式でダウンロード (1403K) -
内田 健康, 示村 悦二郎, 阿部 直人1986 年 22 巻 11 号 p. 1222-1224
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (327K) -
山本 透, 渡辺 栄治, 大松 繁1986 年 22 巻 11 号 p. 1225-1227
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (382K) -
小林 史典, 三浦 信幸1986 年 22 巻 11 号 p. 1228-1230
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (357K) -
玉置 研二, 大石 潔, 大西 公平, 宮地 邦夫1986 年 22 巻 11 号 p. 1231-1233
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (360K) -
柴田 浩, 丸岡 玄門, 西村 仁志1986 年 22 巻 11 号 p. 1234-1236
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (358K) -
鳥羽 栄治, 神津 公, 高橋 重夫1986 年 22 巻 11 号 p. 1237-1239
発行日: 1986/11/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (644K)
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