計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
24 巻, 1 号
選択された号の論文の19件中1~19を表示しています
  • プローブ形状の影響
    坂尾 富士彦
    1988 年 24 巻 1 号 p. 1-6
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    The acoustic resonance frequency of an air column in a tube or duct is altered by the presence of an object facing to one of its openings. Alternatively, acoustic pressure inside responding to constant excitation should change according to the distance, thus can be a measure of the displacement of that object. Investigations reported by the author on this subject are further extended. For both two-dimensional and axially symmetric configurations, effects of the sensor geometry, specifically of the flunge-width at the open end of the sensor tube/duct on the sound pressure-displacement characteristics is investigated experimentally. Simple calculation scheme developed previously gives fairly good agreement with the experiment, although not complete in details. Good linearity of the displacement-acoustic pressure relation is obtained for rather restricted range of frequency. The width of that frequency range is found to be only weakly dependent on the flunge width, while calculation predicts rather clear dependence. The useful range of the displacement is clearly dependent on the flunge width. The wider flunge gives the wider measurement range. The acoustic pressure is more sensitive to small change in the excitation frequency for narrower flunge. Such sensitivity is not desirable since it leads to erroneous response by un-intended change in, or error in setting of, the excitation frequency. It is concluded that as far as situation allows it, use of wider flunge geometry is preferable.
  • 関 享士郎, 長田 洋, 志田 純一, 村上 孝一
    1988 年 24 巻 1 号 p. 7-11
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    The temperature-sensitive magnetic semiconductor (TMS) is one kind of ferrite which is called a temperature-sensitive magnetic core whose magnetic and electrical properties both exhibit a marked temperature dependence.
    The useful TMS as a measuring and controlling element can be created the various Curie temperatures over a wide range and keeps the ferromagnetic property below its Curie temperature. The saturated magnetic flux density and resistance of a TMS are characterized by the decreasing tendencies with the rise in temperature. The former vanishes at its Curie temperature and the later approaches a low value. But it is not well known that the temperature dependent resistance has nearly the same properties as a semiconductor.
    In this paper, the authors describe the semiconducting properties of a TMS including its application to the modulated magnetic and electrical sensors.
    The semiconducting TMS such as a thermistor exhibits the humidity dependence which causes the resistance to decrease with the rise in humidity because of a variable conductivity due to the absorption and emission of the moisture. The reluctance on the magnetic property has the temperature dependence, but the humidity independence.
    After the magnetic and electrical sensors constructed with a single TMS detect the temperature/humidity inputs at the same time, it separates automatically both inputs and can individually and simultaneously send out more than one signal.
    Therefore, the TMS can be regarded as a multi-ability magnetic semiconductor device, having the effect of adding a thermistor to the temperature-sensitive magnetic core, and these characteristics are expected a practical use in the field of the measurement instrument.
    We investigated the fundamental experiment on a TMS and the voluntary measurement module for the temperature and humidity.
  • 中溝 高好, 是永 明彦
    1988 年 24 巻 1 号 p. 12-17
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    The Kalman filter yields the optimum estimate in the sense of the minimum error variance when the noises are Gaussian distributed. However its performance will deteriorate so that the estimates may not be good for anything, if it is contaminated by any noise with non-Gaussian distribution.
    As an approach to the practical solution of this problem, a new algorithm is here constructed, in which the test of statistical hypothesis is used to predict the appearance of outliers. The information is then used to switch the two kinds of Kalman filters. Using the ε-contaminated Gaussian distribution model, two cases are investigated in this paper where a) system noise is Gaussian and observation noise is non-Gaussian, and b) system noise is non-Gaussian and observation noise is Gaussian.
    The resultant filter, being readily constructed as a combination of two linear filters, provides significantly better performance over the conventional Kalman filter. Furthermore it is shown by the simulation for the proposed filter to have the robust property, for the case where prior knowledge about outlier is not sufficient.
  • 平沼 賢次, 河野 通夫
    1988 年 24 巻 1 号 p. 18-24
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    Authors have already given state feedback decoupling algorithms which are based on Hessenberg forms. But it is often impossible to place poles which correspond to the intersection subspace of controllability subspaces. For controllable linear systems, by adding additional dynamics, it is possible to place all poles while preserving decoupling. Several papers have already given design methods for such a dynamic compensator. But these are not suitable for computer implementation. This paper gives a new design method for a dynamic compensator which stabilizes the decoupled system. Since this method places only unstable poles, the order of the compensator is lower. This method is based on the QR method and the standard controllability form. Accordingly, it is more efficient and accurate than the other methods.
  • 藤井 省三, 水野 直樹, 伊藤 雅則
    1988 年 24 巻 1 号 p. 25-31
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    A new method for designing a discrete time adaptive control system is presented for a single-input, single-output, time-varying plant with known dead time. It is assumed that the time-varying plant treated here has unknown time-varying parameters which are described by certain time function of the known form.
    The proposed method is based on an indirect model reference adaptive control algorithm with predictor of the future value of the plant output.
    In this paper, first, an adaptive controller is designed for the case where the plant has a stable inverse. Next, it is shown that the proposed adaptive control algorithm guarantees the convergence of the plant output to the reference sequence. Moreover, the structure of the control system is discussed and the modification of the control system is also mentioned.
    Finally, the result of computer simulation of adaptive control applied to a plant with time-varying parameters is included to illustrate the effectiveness of the proposed method.
  • 堀口 和己, 長田 朗
    1988 年 24 巻 1 号 p. 32-39
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, we consider the modelling problem for linear discrete-time systems using the following two kinds of information from the objective system:
    1) values of the transfer function evaluated at finite points in the open unit disk (first-order information),
    2) values of causal part of the power spectrum function evaluated at the same points as in 1) (second-order information).
    The modelling problem is formulated as a partial or complete interpolation problem of the given data, and is solved based on the Nevanlinna-Pick theory. Since this modelling problem is reduced to the Mullis and Roberts problem in a special case, the results obtained here are available to their problem with a slight modification.
  • 池田 雅夫, 須田 信英
    1988 年 24 巻 1 号 p. 40-46
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    For designing a control system so that the output tracks a constant reference input, it is common to associate an integral compensator with the given plant and apply a stabilizing control law to the resulting augmented system. The LQ optimization technique is extensively used for the stabilization, and the obtained feedback control system has been refered to as an optimal servosystem. It is true that the servosystem is optimal to the changes of initial states or unknown constant disturbances, but not true when the reference input is changed. The objective of the present paper is to indicate this fact and provide the optimal control law which really minimizes the given performance index.
    There are two types of quadratic performance indices which have been considered in the context of the design of servosystems. We deal with both in this paper, and show that the optimal control law is generally composed of not only the state feedback in the augmented system but also the feedforward from the reference input and a constant signal determined by the initial states of the system. The constant signal is not needed if we assume that the change of the reference input occurs only when the system is in steady states. In case we do not allow discontinuity of the control input, the optimal control law is realized by only the state feedback in the augmented system.
  • 近似最短時間制御
    櫛田 直規, 西村 行雄, 米澤 洋
    1988 年 24 巻 1 号 p. 47-54
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper deals with the design of an approximate time optimal controller for changing the course of a ship. In general, the mathematical model of ship turning motions is very complex. Because the dynamics have time varying parameters and contain nonlinear and dead time elements.
    To design it easily, first, we introduce the CCB test for fitting the switching curve of control. Then we construct the suitable 2nd order dynamical model for predicting the state variables, which contains dead time and varing time gain. This done, we can discuss the time optimal control on the predictive 2nd order phase plane for very complex controlled object. Also a linear state feedback controller is introduced to suppress hunting around the equilibrium point. The resultant system becomes what is known as a dual-mode control system.
    Finally, results of both sea trial and digital simulation are given to show that the proposed controller gives excellent effects.
  • メカニカル・インピーダンス制御への応用
    小菅 一弘, 古田 勝久, 横山 竜昭
    1988 年 24 巻 1 号 p. 55-62
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    In this paper, an alternative architecture of a robotic servo system, the Virtual Internal Model Following Control System, is proposed.
    First, a trajectory tracking control problem of a robot arm in the working coordinate system is discussed and the control problem of a robot based on external information is formulated as a control problem of the error system, which is derived from the controlled robot arm linearized by nonlinear feedback and the desired trajectory. Then the virtual internal model following control system is proposed based on this formulation.
    In the proposed control system, the Virtual Internal Model generates the Virtual Reference Signal, which is a modified reference signal based on the external information. This model is used to describe a control strategy of a robot in the control system for external information. The behavior of a robot toward the external information is controlled based on this model.
    As an example of the proposed control architecture, mechanical impedance control problem is discussed. The experimental results illustrate the effectiveness of the proposed control system.
  • 宮里 義彦, 大島 康次郎
    1988 年 24 巻 1 号 p. 63-68
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    In controlling robotic manipulators, dynamic characteristics, such as inertia-moments, centrifugal and Coriolis forces, and gravitational loadings, are to be considered. But those effects are highly nonlinear, and that makes it difficult to achieve the quality dynamic performance by conventional linear control techniques.
    To overcome those difficulties, many approaches have been examined based on modelreference adaptive control schemes. But most of them are only applications of the usual method to the linearized approximations of nonlinear manipulator models, and then are not useful in controlling over a wide range of motions.
    In this paper, we propose a new control scheme, in which the quality dynamic performance is achieved without exact knowledge of nonlinear elements and accelerations. It is considered to be a kind of adaptive sliding mode control that adjusts the control gains adaptively. Finally some simulation results show the effectiveness of this method.
  • Kensuke HASEGAWA, Kouji TAKAHASHI, Paulo Eigi MIYAGI
    1988 年 24 巻 1 号 p. 69-75
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    Mark Flow Graph (MFG) is a generalized and uninterpreted technique to represent event-condition systems. However, to model a specific system, an interpreted form of the MFG is necessary to clarify the features of the system. The MFG technique is applicable as a hierarchical approach to obtain an easily understandable and systematic design procedure.
    The purpose of this work is to provide a generalized and systematic approach to represent discrete event production systems and system control.
    Firstly, a characterization of a discrete event production system (DEPS for short) is carried out based on the activity phenomena flow and its control in which the activity element and the distributing element are identified. Based on this, the production flow schema is proposed as a conceptual representation of the DEPS. Secondly, an interpreted form of the MFG which includes the required control conditions is introduced to efficiently detail the functions of the system's elements identified by the production flow schema.
    Finally, the main control rules are identified and some practical solutions by using the proposed method are presented to assure that the resultant overall system is well-designed.
  • 飯間 昇, 小野木 克明, 西村 義行
    1988 年 24 巻 1 号 p. 76-82
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    Conventional methods of detecting the 3-D motion of an object from the sequence of brightness patterns in image frames used to be composed of two steps; first computing the optical flow from the brightness patterns, and then detecting the 3-D motion by interpreting the optical flow. The detectable magnitude of optical flow is dependent on pixel sizes, sampling periods, and spatial frequencies contained in the brightness patterns. However, any quantitative relations among them have yet been unknown.
    This paper first shows an analytical result that the detectable magnitude of optical flow is inversely proportional to sampling periods and also to spatial frequencies in brightness patterns. The relation is used to examine the limit of detectable optical flow and to determine the design parameters of image processig systems using the temporal-spatial gradient method. The paper then presents a simplified model which describes the relation between the motion of a rigid body composed of planes and the derivatives of brightness patterns. It also presents a method of estimating the optical flow and the 3-D motion simultaneously, which is a combination of that model and the hierarchical estimation approach proposed by Sato, et al. The optical flow and the 3-D motion are estimated by eliminating the undetectable frequency components in image sequences and solving the model equation repeatedly. The paper last presents some simulation experiments about the method which show the successful 3-D motion estimation.
  • 飯倉 善和, 安岡 善文
    1988 年 24 巻 1 号 p. 83-85
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    A simple derivation of a best linear discriminant function was presented through geometrical consideration on ellipses with equi-Mahalanobis distance. It was also shown that the function satisfied the Minimax criterion, which implied the robustness with regard to priori probabilities of concerned categories.
  • 疋田 弘光, 久保 洋
    1988 年 24 巻 1 号 p. 86-88
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    A design method for a sliding-mode servo system with an internal model of a reference signal generator is proposed. This servo system is insensitive to disturbances, parameter variations and nonlinearity.
  • 佐伯 正美, 安藤 和昭
    1988 年 24 巻 1 号 p. 89-91
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    In the H mixed sensitivity optimaization problem, the largest singular values of the sensitivity function S and the complementary sensitivity function T are bounded by the optimum value of the performance index and the weighting function by using the fundamental equality S+T=I and the propertity of H optimal solution.
  • 千田 有一, 原 辰次, 美多 勉
    1988 年 24 巻 1 号 p. 92-94
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    We prove that all zeros of the modified pulse transfer function are different from the zeros of the pulse transfer function for almost all cases, and that this property is equivalent to the condition to construct the strongly stable digital output feedback system.
  • 玉城 史朗, 江口 裕之, 有本 卓
    1988 年 24 巻 1 号 p. 95-97
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper proposes a method of designing an optimal multivariable IFIR (Integrated Finite Impulse Response) Feedback controller which minimizes the weighted mean square value of both output errors and control inputs, when only a systems impulse response is available. Since the controller is constructed as a FIR filter, the computation for designing the optimal one is reduced to solving a discrete-time Wiener-Hopf equation. This equation can be solved recursively by increasing the order of the system via type of the Levinson-Wiggins-Robinson algorithm. Furthermore, the order of the controller can be estimated by evaluating the power of the output errors and control inputs.
    Finally, the effectiveness of the proposed method is demonstrated by computer simulation.
  • 山田 孝行, 辻村 健, 藪田 哲郎
    1988 年 24 巻 1 号 p. 98-100
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
  • 流量制御系について
    青島 伸治
    1988 年 24 巻 1 号 p. 101-102
    発行日: 1988/01/30
    公開日: 2009/03/27
    ジャーナル フリー
    Nonlinear effects observed in the measurement of air flow control system characteristics are discussed. When the signal compression method is applied to measure nonlinear systems, distinctive waveforms are obtained as illustrated.
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