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Volume 23, Issue 9
Displaying 1-17 of 17 articles from this issue
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Application to the Fuel Meter of AutomobilesKajiro WATANABE, Rinzo SUZUKI, Koushi YAMADA1987 Volume 23 Issue 9 Pages 881-888
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper describes how to directly and accurately measure liquid volume in a deformed tank which has gas-leaking pinholes, whose attitude changes and walls vibrate, and in which liquid sloshes: The proposed method differs from the conventional methods that use level meters and makes the measurement possible with out setting level detecting devices such as a float in the tank. The method makes use of the Boyle's law, and the measurement procedure is as follows: (a) first, we determine the volume of gas in the tank by measuring gage pressure increased by compressing the volume in the tank, and (b) next, we find the volume of liquid by subtracting the volume of gas from the capacity of the tank.
This yields that one standard measurement system can be applied to a variety of tanks with a certain range of volume capacities, whereas the conventional methods using level meters are required to design and manufacture different detecting devices depending on shapes of the tanks. Thus, the proposed method can be effectively applied to accurate measurement of amount of fuel in an automobile tank.
Here, we focus our discussion only to measure fuel in the aotomobile tank, but this method can be generally applied to measure volume of liquid, solid and powder in a tank. Principle of measurement and procedure how to design instrument system based on the proposed measurement method is described. Validity of the proposed method was examined by experiments.View full abstractDownload PDF (1966K) -
Hidefumi TAGUCHI, Masateru DOI, Mitsuhiko ARAKI1987 Volume 23 Issue 9 Pages 889-895
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new method of optimal parameter setting for PID control systems with two-degrees-of-freedom is proposed. The method uses a frequency domain performance index, and, hence, can be applied directly (without modelling procedure) if the frequency response data of controlled objects are obtained. The performance index used here has close relation to “Time-weighted Integral of Square Error (TISE)”. By using this method, the optimal parameters are calculated for four classes of controlled objects that are first-or second-order lag plus dead time systems without zero point. By simulation, it is assured that these parameters realize less than 20% (12% on average) overshoot, nearly minimum settling time and nearly smallest TISE. The results of simulation also indecates that our method is superior to or, at least, as good as the conventional ones.View full abstractDownload PDF (849K) -
Nariyasu MINAMIDE, Masahiro KURODA1987 Volume 23 Issue 9 Pages 896-903
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA basic controller structure of a direct adaptive pole-placer for a single input and single-output linear system of unknown order is first investigated to obtain an error equation for estimating pole-placing feedback gains. As the system order is overestimated, the resulting closed-loop system using such estimated feedback gains in control has, in general, undesirable poles other than desirable ones. The estimated gains are thus adjusted solving a linear minimization problem so that the undesirable poles appearing in closed-loop system may be removed. By introducing a reduced order state vector, a minimal state space representation of the closed-loop system is then derived, and its generic observability in the parameter space is demonstrated when a signal comprised of an appropriate linear combination of the past input and output data is regarded as the system output.
Finally, a global asymptatic stability of the overall control system consisting of the poleplacing feedback estimator and controller is established under the assumption that the closed-loop system is uniformly observable with respect to the system output. Since the colsed-loop system is generically observable in the parameter space as demonstrated above, this assumption is sufficiently weak and will practically be satisfied by virtue of the adjustment process on the estimated feedback gains.
A result of a computer simulation in which a non-minimum phase system of second order is treated as the fifth order system illustrates the usefulness of the proposed scheme.View full abstractDownload PDF (983K) -
Katsunobu KONISHI, Hiroaki OTSUKA, Toshio YOSHIMURA, Hirokazu ISHIHARA1987 Volume 23 Issue 9 Pages 904-911
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents an application of the multivariable model reference adaptive control (MRAC) approach to a three-input three-output process control system. Since this system has small leading coefficients, the control inputs vibrate violently when the basic MRAC scheme is applied. In order to reduce the input vibrations, the basic MRAC scheme is modified so that the transfer function matrix between the control inputs and the system disturbances in the closed loop includes some adjustable parameters, and two methods to determine these parameters are proposed. Experimental results show that good performance in the input smoothing are obtained by the proposed MRAC scheme without degrading the tracking ability to the model reference output sequences.View full abstractDownload PDF (1002K) -
Kenichi NISHIGUCHI, Kazuo TSUCHIYA1987 Volume 23 Issue 9 Pages 912-919
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe problem of estimating both states and parameters of continuous-time linear stochastic system is considered in the framework of nonlinear filtering. First, the asymptotic properties of conditional moments of states and parameters with respect to the observation are analyzed as time tends to infinity. Secondly, the nonlinear filter equations for the problem are transformed into a singular perturbed system by rescaling the conditional moments using the result of the asymptotic analysis. Finally, eliminating asymptotically negligible terms from the singular perturbed system, an adaptive estimation algorithm is obtained. Due to their contruction scheme, the estimates by the algorithm have the same asymptotic properties as those of the optimal ones.
In addition, it is shown that the algorithm obtained here agrees with the continuous-time version of the Ljung's one, which was derived heuristically by the combination of the extended Kalman filter and the gradient method.View full abstractDownload PDF (1002K) -
Shinji HARA, Youshe CHEN1987 Volume 23 Issue 9 Pages 920-927
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe robust stability and stabilizability for continuous-time repetitive control systems with stable multiplicative perturbation are investigated by a matrix factorization approach. A sufficient condition for the robust stability is obtained based on the H∞ norm of the loop transfer function of an equivanlent system. The robust stabilizability problem can be reduced to a μ-synthesis or general distance problem. The sufficient condition for the existence of a controller which assures the robust stability is derived. It is also shown that the low pass filter with any band width can be designed for stable plants with any perturbation or minimal phase plants with perturbation whose gain is less than one.View full abstractDownload PDF (965K) -
Nobuaki KOBAYASHI, Takayoshi NAKAMIZO1987 Volume 23 Issue 9 Pages 928-934
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe problem to be considered in this paper is to find a structural solvability condition for a disturbance rejection problem of linear multivariable systems.
Although some solvability conditions for a disturbance rejection problem have been already investigated by many authors, all these conditions depend on system parameters. The system structure for the problem to be solvable is presented by Bhattacharyya et al. But it is necessary to a suitable transformation for obtaining such a structure.
With the aid of the graph-representation of systems, a necessary and sufficient condition for structural solvability is given, which does not depend on system parameters. The new procedure, that is very simple and intutive, for deciding the solvability is also presented. Simple examples are given to illustlate this procedure.View full abstractDownload PDF (894K) -
Tadashi ISHIHARA, Hiroyuki SHIOZUKA, Kenichi ABE, Hiroshi TAKEDA1987 Volume 23 Issue 9 Pages 935-940
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecently, the authors have proposed a design method of discrete-time iterative controller on the assumption that the correct impulse response sequence of a controlled system is available. In the present paper, we discuss the design using an uncertain impulse response sequence. First, the performance of the controller designed by the previous method using an errorneous impulse response sequence is analyzed. It is shown that, unlike the design using the correct impulse response, the increase of the order of the error correction algorithm does not necessarily provide better transient performance. A method of the order determination using an upper bound of the error of the impulse response is suggested. Unfortunately, it is pointed out that this method often provides conservative result except for a special case. To mitigate this drawback, an alternative design method is proposed on the assumption that the uncertainty of the impulse response sequence is represented by known probability distribution. The coefficients of the algorithm are determined by minimizing the averaged quadratic performance index. It is shown that a proper order is easily determined by using the minimized average performance indices. A numerical example is presented to demonstrate the effectiveness of the proposed method.View full abstractDownload PDF (861K) -
Yoshifumi SUNAHARA, Toshihiko YASUDA, Yoji MORITA, Hiroshi HISADA1987 Volume 23 Issue 9 Pages 941-948
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSBy motivating the fact that discrete predator-prey systems often exhibit chaotic behavior, in this paper, control problems of a class of discrete predator-prey systems are studied.
By examining the stability of an equilibrium associated with the predator-prey system, it is first shown that the harvesting or supplying of predators, whose amount is proportional to the number of predator, is effective for preventing oscillations of populations. It is also shown that if the growth rate of predators is too large and the population of predators at the equilibrium is too large, then populations oscillate and these oscillations are stabilized by the harvesting of predators. On the other hand, if the growth rate of predators is too small, the supplying of predators is effective. The optimal harvesting policy yielding the maximum average harvest of predators is also derived.
Furthermore, by introducing the concept of the invariant domain, the constant rate harvesting investigated here is compared with the constant harvesting, and the former is shown to have an advantage from viewpoints of the conservation of ecosystems.
The validity of theoretical results presented here is demonstrated by numerical experiments with various values of parameters.View full abstractDownload PDF (1514K) -
Kensuke HASEGAWA, Yu-Wu ZHANG, Takashi MIZUTANI1987 Volume 23 Issue 9 Pages 949-953
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAs a high accuracy trajectory control technique for manipulators, the Autonomous Trajectory Generating Servomechanism (ATGS) has been proposed. Since the ATGS has a function in the algorithm to recover trajectories when they deviate from the nominal paths and the rate-servomechanism in the ATGS has inherently a capability to restrain the influence of disturbances by the effect of feedback, the trajectory generated by the ATGS is robust against the effects due to the dynamics of manipulators and/or parameter changes of systems. In this paper, the ATGS is extended to generate the spatial curve defined by the intersection of a pair of surfaces. Moreover, a trajectory generating method including the orientation control of end-effector is presented. Finally, the trajectory control method is implemented and tested in a real articulated manipulator. The experimental results confirmed the effectiveness of the method proposed in this research.View full abstractDownload PDF (644K) -
Toshiro SASAKI1987 Volume 23 Issue 9 Pages 954-960
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn recent deep space mission analyses of artificial satellites, multiple swingby maneuvers using gravity assists become more important. Because of fuel limitation due to weight constraint on these satellites, a high precision optimal trajectory analysis is required to minimize total impulsive ΔV for trajectory control.
This multiple swingby trajectory analysis is formulated as a nonlinear parameter optimization problem. The difficulty of this problem is caused by the unstable convergence due to a non-linear gravity effect, because swingby trajectories must pass close to the gravity resources.
In this paper, a new optimization procedure for high precision multiple swingby trajectories is proposed, which uses the patched conic method in an iteration scheme to calculate the non-linear characteristics expressing a gravity effect precisely. The simulation results of a double lunar swingby trajectory show that the proposed method is effective for a multiple swingby trajectory analysis from the viewpoints of computation time and total ΔV for trajectory control.View full abstractDownload PDF (1004K) -
Haruhiko ASADA, Kazuo OGAWA1987 Volume 23 Issue 9 Pages 961-968
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA new approach to the dynamic analysis of a manipulator arm interacting with the environment is presented. Inertial properties of the manipulator arm and the end effector viewed from the environment are analyzed. It is found that, under a certain condition, there exists a particular point on the end effector, at which a linear force causes only a linear acceleration in the end effector, while a moment causes only an angular acceleration. The point is similar to the centroid of a single rigid body, hence referred to as the generalized centroid of the arm-and-end-effector system. The inertial properties are also characterized by the virtual mass, which is defined to be the equivalent mass of the arm and the end effector reflected to a point of interest.
The developed analytic tools are then applied to task planning and end effector design with emphasis on deburring and assembly. The orientation of a tool and the configuration of the manipulator arm are optimized in such a way that the arm-and-tool system possesses an appropriate virtual mass and the generalized centroid at an appropriate point.View full abstractDownload PDF (1152K) -
Seiji YASUNOBU1987 Volume 23 Issue 9 Pages 969-976
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn resent years, in line with hardware technology developments such as microcomputers, computer control rather than human operators is being widely used in plants, transportation systems, and so on. Fuzzy logic control aimes at using fuzzy logic, which serves to define the subjective ambiguity of people in terms of truth values which are between 1 and 0, to incorporate human intellectual actions into control programs.
The authors proposed a predictive fuzzy control scheme which predicts the result and selects the most likely control rule derived from skilled human operator experience. This scheme is currently being applied to an actual subway system's automatic train operation system and a container crane operation system.
In this paper, based on experience of these applications, a relationship of fuzzy control methods, conventional control methods and a human operation is discussed, and the predictive fuzzy control scheme is enhanced to realize a human's operation strategies which are organized by (1) estimation, (2) decision and (3) activation. The new control scheme is applied for a second-order transfer function model which includes unknown parameter of dead time and system gain. The simulation results show the controller effective to incorporate human control strategy.View full abstractDownload PDF (1039K) -
Tetsuo SAWARAGI, Sosuke IWAI, Osamu KATAI1987 Volume 23 Issue 9 Pages 977-984
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn architecture of a knowledge-based system is presented for decision support in sociopolitical domain. Human experts' decisionmaking is characterized by their efficient heuristics: simplifying the world reality getting the idea on what kinds of events naturally belong together, and grasping what sorts of behavioral patterns appear in sequences of observed events. In this paper, the system is designed that can generate dynamic evolving patterns of events with different abstraction levels using meta-knowledge, universally accepted as human repetitive patternized social behaviours, above the empirical knowledge which is acquired from documents as causally-chained networks by our suggesting knowledge representation formalism. Those generated event patterns at each level evolve in parallel concurrently under the domination of a social behavioral plan-scheme of the upper level. Based on such a human memory-like knowledge organization, the system enables decision-makers' flexible and efficient access to the knowledge store on their individual demands, as well as provides them with comprehensive information from global viewpoints, both of which contribute to explicating the problems in their pre-decision stages.View full abstractDownload PDF (1937K) -
A New Solution Method via the Exterior Penalty Approach for Constrained Bilevel Programming ProblemsEitaro AIYOSHI1987 Volume 23 Issue 9 Pages 985-992
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe paper presents a new method for solving bilevel programming problem by adopting the concepts of an exterior penalty method. The bilevel programming problem is composed of an upper and a lower level. The upper level determines the optimal value of an unknown parameter contained in the lower level optimization problem, based on upper objective and constraint functions, while the lower level problem can be solved under the parameter assigned by upper level. Furthermore the determination of the parameter is performed by considering the optimal solution to the lower level problem corresponding to the parameter. Such a problem cannot be solved by ordinary mathematical programming.
In our exterior penalty approach, augmented objective functions are introduced first, by which the objective function is combined with the constraint function, in the upper and the lower levels, respectively. Then, the original constrained bilevel problem is transformed into an unconstrained bilevel problem, which is solvable by use of a gradient method, and the lower parametric solution is approximated by a differentiable implicit function satisfying the stationary condition for the lower augmented objective function. And also, it can be proved that the solution to the original bilevel problem can be obtained as an accumulation point of a sequence of solutions to the transformed bilevel problem, when the penalty parameters diverge to the infinite in the upper and the lower levels simultaneously. In the points mentioned above, the concepts of our exterior penalty approach is different from an ordinary exterior penalty method.View full abstractDownload PDF (999K) -
Hiroshi KASHIWAGI, Isamu TAKAHASHI1987 Volume 23 Issue 9 Pages 993-997
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper proposes a new method of compact and efficient logic testing of a circuit, which we call here MSEC method. In this MSEC method, an M-sequence is applied to a logic circuit under test and the crosscorrelation function between the input and the output are calculated for several delays. The crosscorrelation functions are then compared with the correct values, and if they are different, we can guess that there must be some faults in the circuit. It is theoretically shown that MSEC method has a very small probability that we miss any faults.
The results of computer simulation agree well with the theoretical considerations.View full abstractDownload PDF (602K) -
Tadashi TAKEMAE, Yukio KOSUGI, Haruo SAITO, Jun IKEBE1987 Volume 23 Issue 9 Pages 998-1000
Published: September 30, 1987
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn order to measure a local impedance of biological substances, a new method of the tetrapolar circuit in combination with eddy current is proposed. In this method, current distribution can be restricted to the desired part and errors due to electrode impedance uncertainty can be also eliminated because of using the tetrapolar technique. Therefore, this method would be useful to expand the application area of impedance measurement in physiological studies.View full abstractDownload PDF (360K)
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