巻号一覧
23 巻, 3 号
選択された号の論文の18件中1～18を表示しています
- |<
- <
- 1
- >
- >|
-
杉野 徹, 伊藤 保之, 梅野 正義1987 年 23 巻 3 号 p. 207-214
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThe rapid measuring method which determines V.H.F relative complex permittivities of liquids and solutions was proposed by M.G. Corfield et al. Then, it was revised by R.G. Bennett and J.H. Calderwood to be applicable to high loss liquids. This method is generally applicable to the measurement of coaxial-line frequency region (below 3000MHz), The method, however, has two difficulties when it is applied at the higher microwave frequency region where waveguide must be used as instrumentation system.
One is that the diaphragm separating the liquid-filled section from the air-filled section causes errors in calculation results, and the other is the complexity of the formula which relates the relative complex permittivities to the propagation constant of the liquid-filled line in TE10, propagation mode.
In this paper, a new measuring technique is proposed to overcome these difficulties.
The measurement has been performed at 9.50GHz on several liquids using the WRJ-10 waveguide measuring system, and reasonable results have been obtained. The graphs convenient to determine relative complex permittivities of liquids from measured values are introduced.抄録全体を表示PDF形式でダウンロード (1036K) -
新井 優, 滝谷 信昭, 沢田 重明1987 年 23 巻 3 号 p. 215-218
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThe reproducibility of the triple-point temperature of gallium was investigated using two standard platinum resistance thermometers.
The sample of high purity gallium from commercial sorce was in all-plastic cell, and it was set in the constant temperature oil bath, the temperature of which was kept approximately 0.5°C above the gallium triple-point temperature. During the triple-point measurements, the cell was pumped continuously.
The triple-point temperature was found to be stable, not depending on the temperature of the oil bath. The immersion characteristics were studied, and effect of the temperature outside the cell was as small as 0.01mK. The triple-point temperatures were reproducible with a standard deviation ±0.03mK.抄録全体を表示PDF形式でダウンロード (557K) -
金住 順二, 杉田 尚弘1987 年 23 巻 3 号 p. 219-223
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーIt happens in the measurement of flow-rate of a gas flow using float-type flowmeter (rotameter) that the float begins to oscillate spontaniously. The phenomenon is known as float bouncing. It hinders the measurement and sometimes breaks the flowmeter. Therefore it is important to deepen understanding of the phenomenon for its prediction and prevention. This problem is studied in the present paper from theoretical as well as experimental aspects. Namely, an equation of motion of the float and related equations are derived basing on a simple model of meter-system including pipe arrangement. It is then shown that the resulting solution may be dynamically unstable at certain conditions and may execute self-excited oscillation. Besides, an experiment for the model system is conducted and fairly good agreement between theory and observation is found as for conditions of stability as well as characteristics of oscillation.抄録全体を表示PDF形式でダウンロード (1067K) -
富永 雅樹1987 年 23 巻 3 号 p. 224-231
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーHeat equation of mixed material is developed based on three hypotheses. The first hypothesis is introduced to express condition of the mixture. The second hypothesis expresses flowing part of each component. The third hypothesis requires the temperature is the same in each material at a place. As application of developed equation, four types of heat equation of soil system is derived. Soil system is classified generally by both flow/no-flow conditions and saturated/unsaturated conditions of water.
There are two parameters characterizing energy flow: apparent thermal diffusivity and coefficient of flow rate. Experiments were conducted to evaluate applicability of the equation. The experiments were planned to measure sectional flow rate of soil-water and thermal diffusivity by phase differences corresponding to two different angular frequencies of input-temperature-signal. Measured thermal diffusivities are different from the theoretical values. The differences between measured and theoretical diffusivities come from apparent thermal conductivity of the mixture. Mechanism of the difference is not clearly explained by the effects of both heat bridge among soil particles and convection of heat. As the result, the developed heat equation can be applied to mixed material under the condition that the thermal conductivity is constant.抄録全体を表示PDF形式でダウンロード (1031K) -
桑田 龍一1987 年 23 巻 3 号 p. 232-239
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new tuning method for PID; I-PD process control system, and describes its control characteristics for various controlled objects.
The procedure of the improved ultimate sensitivity method consists of
(1) measuring the ultimate sensitivity KC, the ultimate period PC, and the dead time L of process.
(2) estimating the characteristic type of process.
(3) finding the multiplier factors fK; fI; fD in the charts-based on the Kitamori's partial model matching method, using the normalized dead time LN (=L/PC) and the characteristic type of process.
(4) calculating the optimal values of the PID; I-PD control parameter from the followings, the proportional gain KP=fK·KCthe integral time TI=fI·PCthe derivative time TD=fD·PC
For controlled objects with the wide range of the ratio of dead time L to lag time constant T, step response curves, which are demonstrated in simulation studies, show the effectiveness of the method, and the importance of the parameter LN in the design of control system.抄録全体を表示PDF形式でダウンロード (1043K) -
大日方 五郎1987 年 23 巻 3 号 p. 240-246
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThis paper considers a design method of a digital controller which realizes approximately an arbitrarily specified closed-loop response. A weighted sum of square errors is introduced as a measure of the approximation. Minimizing the weighted sum, a linear equation is obtained for unknown parameters of the reduced-order controller. In this method, the order of the controller can be arbitrarily specified. A new criterion is proposed to determine the order of the controller. The criterion is based upon a tradeoff between goodness of the approximation and degradation of that for changes in plant parameters. Examples are given to illustrate the effectiveness of this design method.抄録全体を表示PDF形式でダウンロード (808K) -
宮城 隼夫, 宮城 雅夫1987 年 23 巻 3 号 p. 247-252
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, the direct method of Lyapunov is used to analyze a nonlinear control system. A non-Luré type Lyapunov function which gives wider stability region than the conventional Luré type Lyapunov function is presented. This function includes a new extra term having not appeared in the Luré type function. In fact, the Luré type function has been confined to the “quadratic-plus-integrals of the nonlinearities” type, and thus, in many cases, has given too conservative results for the stability. The construction procedure developed in this paper, for the new type Lyapunov function, is systematic and is essentially based on the generalized Popov criterion established by Moore and Anderson.
This new technique is applied to the singlemachine system with a control equipment modeled by a linear 1st-order response and the stability of the system is studied. In this 3rd-order system, it is shown that the proposed non-Luré type Lyapunov function gives considerable improvement of stability boundary estimates over that given by the Luré type Lyapunov function.抄録全体を表示PDF形式でダウンロード (767K) -
則次 俊郎, 和田 力1987 年 23 巻 3 号 p. 253-259
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーTo realize a continuous fine motion control with a pneumatic actuator, the electronical intelligent control is required, in which an electro-pneumatic conversion is essential. In this study, by introducing a Pulse-Code-Modulation (PCM) technique into this conversion, the microcomputer controlled digital pneumatic servo system with a pneumatic cylinder and on-off solenoid valves is proposed. Its positioning performance is experimentally examined to obtain the following results.
1) The PCM technique enables the continuous control with only on-off solenoid valves, in which the control signal directly corresponds to the binary signal. Therefore this method is suitable for the microcomputer control and much practical as a digital control method of a pneumatic actuator.
2) In the repetitive positioning, the learning control modifying the reference input based on the preceding positioning error is much effective to eliminate the unpredictable errors due to the sliding friction and so on.
3) Under some conditions the nonlinear friction makes the stopping manner change to largely decrease the positioning accuracy. When unchanged, the scattering amount of the repetitive stopping position almost agrees with the minimum resolution distance in the PCM. The experimental system can realize the positioning accuracy of about ±0.25mm.
4) In the PCM control, the maximum piston speed must be constrained for the satisfactory positioning accuracy. To prevent the positioning time increasing due to this constraint, the positioning method added the open-loop controlled high speed region is proposed and its effectiveness is proved.抄録全体を表示PDF形式でダウンロード (900K) -
黄 席〓, 佐藤 正喜, 亀山 充隆, 樋口 龍雄1987 年 23 巻 3 号 p. 260-267
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーTime-optimal control of a DC-servomotor with a bounded driving voltage and a bounded driving current is very useful for practical applications, bacause the capability of the power amplifier is usually limited. In particular, real-time control which involves the computation of the optimal solution is almost impossible when a microcomputer is used as a digital controller, because of the limitation of its computation speed.
In this paper, time-optimal control system with the combination of feedforward and linear state feedback control is proposed to overcome the above problem. In the feedforward control, the prestored optimal sequence of a manipulation variable which has been computed using linear programming is applied to a DC-Servomotor. In the feedback control the effects of disturbances and modeling errors can be reduced, which leads to an exact constant value control. From an experimental result, it is made clear that practical microcomputer-based time-optimal control can be realized easily under the limited driving capability.抄録全体を表示PDF形式でダウンロード (1384K) -
宮崎 友宏, 萩康 史朗1987 年 23 巻 3 号 p. 268-273
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, an efficient method for calculating the joint rates of manipulators is proposed. The method realizes desired velocity of the end effector expressed in Cartesian coordinates. By the method, the analytical solution of the joint rates for a 6 d.o.f. manipulator can be obtained. It allows direct calculation of the joint rates corresponding to desired velosity of the end effector without real-time calculation and invertion of the Jacobian matrix, which is time-consuming process.
In general, the joint rates are obtained as solution of linear simultaneous equations. The coefficient matrix of the equations is known as the Jacobian matrix. It is difficult to solve them directly because of their complexity.
In this paper, to simplify the equations, we introduce an intermediate coordinate frame which is a Cartesian coordinate frame fixed to the middle link of the manipulator. Then the equations with 6 unknowns of joint rates are simplified to two sets of linear equations with 3 unknowns. The resultant equations can be easily solved analytically. The amount of real-time computation is reduced by the analitical expression of the solution. For a PUMA robot, for instance, the calculation requires 28 additions, 46 multiplications and 4 divisions, giving computation time of about 2.5ms using a 5MHz 8086 micro processor and an 8087 coprocessor.抄録全体を表示PDF形式でダウンロード (725K) -
佐々木 忍1987 年 23 巻 3 号 p. 274-280
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a new approach to solve the inverse kinematics of a type of six-link manipulator. Directing our attention to features of joint structures of the manipulator, the original problem is first formulated by a system of equations with four variables and solved by means of a minimization technique. The remaining two variables are determined from constrained conditions involved. This is the basic idea in the present approach.
The results of computer simulation of the present algorithm showed that the accuracies of solutions and convergence speed are much higher and quite satisfactory for practical purposes, as compared with the linearizationiteration method based on the conventional inverse Jacobian matrix.抄録全体を表示PDF形式でダウンロード (796K) -
梶田 秀司, 小林 彬1987 年 23 巻 3 号 p. 281-287
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーIn a study of the dynamic walk of a biped robot, it is required to extract the dominant dynamics of the walking machine by reducing the dimension of the motion equation in some way.
As the dominant dynamics, the following properties are shown about inverted pendulum with expandable leg when an input force is provided to balance its vertical component with its own weight.
1. The center of gravity moves horizontally.
2. The horizontal movement of the center of gravity can be expressed by linear differential equation.
It is confirmed that the same phenomenon is shown both at the inverted pendulum with torso both at the inverted pendulum made by 5 links. The orbit on which the center of gravity moves is named, the “Potential Energy Conserving Orbit.”
Based on these properties, control laws were formulated for walk initiation, walk continuation, and walk termination. The walking speed is controlled through the leg exchanging condition. The possibility of dynamic walk of a biped robot has been confirmed by computer simulation. The manufactured walking machine has 4 DC motors in its torso, and has ostrichlike legs which have parallel link structure.
Using this machine, we realized 5 stepsof dynamic walk, including walk initiation.抄録全体を表示PDF形式でダウンロード (1439K) -
尾崎 弘明, 山本 元司, 毛利 彰1987 年 23 巻 3 号 p. 288-293
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThis paper discusses how to plan manipulator joint trajectories in order to make a performance index as small as possible under geometric path constraints in consideration of physical contraints based on kinematics and dynamics of a mainpulator system. Using a time scale factor κ(t), the specified index and joint trajectories are described by functions of κ(t) and its time derivative κ(t). Then the desirable κ(t) is obtained by two proposed methods: the first one is the iteratively improving (II) method which is a feasible method and utilizes the local controllability of B spline; and the second one is a global optimization method using dynamic programming (DP). These methods are applied to an example of a collision-free path of the manipulator with four links and four degrees of freedom. The numerical results point out that II method is much more effective than DP method in view point of the computation time and used memories, if the strictly optimal solution is not required.抄録全体を表示PDF形式でダウンロード (749K) -
井上 正夫1987 年 23 巻 3 号 p. 294-300
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThis paper deals with a magnetically suspended flywheel and the stability analysis of the gyroscopic motion.The magnetic bearing is composed of eight electromagnets whose attractive forces have components both in axial and in radial direction so that it may be useful in reducing the size and the weight.
The high-speed test and the stability analysis are performed the results of which indicate that (1) the phase lag of the control electronics and the actuators may cause an unstable nutation at a high speed, (2) the integral compensation may cause an unstable precession at a high speed, (3) a gimbal rate crossfeedback stabilizes the notation, (4) a gimbal angle cross-feedback stabilizes the precession.
These results make the magnetic wheel system stable over the speed of 10, 000rpm.抄録全体を表示PDF形式でダウンロード (820K) -
村田 智洋, 薦田 憲久1987 年 23 巻 3 号 p. 301-307
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーThe capacity Petri net, which is a subset of general Petri net and each of its places can have at most a constant value called place capacity, is a suitable model for describing real systems' behavior.
Liveness analysis of capacity Petri net which represents system's behavior is important to guaranteee that the system is deadlock free. Capacity Petri net has essentially boundedness in marking, so its liveness problem can be completely determined by reachability tree analysis. However, procedure of making reachability tree needs a large amount of calculation time in proportion to net size power, so there is a practical difficulty that only small size net can be analyzed by reachability tree.
Several reduction algorithms of general Petri net which has no limit of place capacity was proposed to relieve this difficulty. However these algorithms don't take into consideration of place capacity, so they can't be directly applied to reduction of capacity Petri net.
In this paper a new reduction algorithm that can reduce capacity Petri net keeping its structual property of liveness with calculation time in linear proportion to net size. This algorithm has been experimentally applied to several capacity Petri nets which represent sequence control specifications of automatic machine tools. After reduction, their net size have become 1/2-1/10 compared with that of original net, and it has been proven that proposed reduction algorithm makes liveness analysis of capacity Petri net easier.抄録全体を表示PDF形式でダウンロード (963K) -
社河内 敏彦, 加藤 征三1987 年 23 巻 3 号 p. 308-310
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (307K) -
疋田 弘光1987 年 23 巻 3 号 p. 311-313
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (292K) -
張 再雄, 池田 雅夫, 汐月 哲夫1987 年 23 巻 3 号 p. 314-316
発行日: 1987/03/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (335K)
- |<
- <
- 1
- >
- >|