巻号一覧
24 巻, 5 号
選択された号の論文の18件中1～18を表示しています
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芝 亀吉, 土井 孝一郎1988 年 24 巻 5 号 p. 433-437
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーDifferential pressures type mass flowmeters, here reported, consist of a constant flow apparatus and 3 or 2 orifice meters. These components compose a kind of hydraulic calculating circuit.
In this paper, measuring principles of them are derived by the use of Bernoulli's theorem. Equations expressing these measuring principles are as follows:
ρQ=k3(ΔpA-ΔpB+ΔpC), ρQ=k2√ΔpAΔpC, where ρQ is mass flow rate, ΔpA, ΔpB, ΔpC are differential pressures produced by orifice A, B, C and k3, k2 are meter constants. Mass flow rates can be obtained by measuring 3 or 2 differential pressures.
The two kinds of differential pressures type mass flowmeters are produced by way of trial. Relationships given by the above equations are confirmed by experiments carried out with the trial mass flowmeters.
Constants k3 and k2 must be determined experimentally as they include discharge coefficients.抄録全体を表示PDF形式でダウンロード (525K) -
山田 範秀, 藤村 貞夫1988 年 24 巻 5 号 p. 438-444
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーAn optical model for the propagation of light in a leaf is constructed by assuming the multiple-reflection of light in the leaf and by taking the actual structure of the leaf into account. It gives spectral reflectance and transmittance of a leaf as functions of chlorophyll content of the leaf. We measured spectral reflectance, transmittance and chlorophyll content of leaves of hydrangea and chinquapin in order to confirm the validity of the model. Spectral reflectance and transmittance were calculated from the chlorophyll content by the model and compared with the measured values. Good agreement between them shows the validity of the model.抄録全体を表示PDF形式でダウンロード (880K) -
吉田 和弘, 広瀬 茂男1988 年 24 巻 5 号 p. 445-451
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーThe authors have developed a new type laser range finder, which enables a mobile robot to measure the distance to a natural object located one to five meters ahead with an error less than two percents. The system uses laser as weak as 1[mW], a safe level for human eyes, and is workable under bright daytime sunlight of about 100, 000[lx]. This laser range finder can quickly process data while compensating the motional error induced by the robot on which it is mounted and makes real time measurements of objects located ahead.
This laser range finder is featured by plural redundant range measuring systems and a newly introduced real time signal processing technique of the redundant signals. The laser range finder shows strong noise reduction characteristic by acting together with two conventional methods, namely, conventional optical filtering which preliminarily eliminates noise and the DDD signal processing proposed by the authors for separating reflected pulseform signals from ambient light on video signals.
The effectiveness of the proposed laser range finder system was demonstrated under direct sunlight by an experimental model mounted with two CCD cameras and a semiconductor laser projector of 1[mW] output power with 830[nm] wave length.抄録全体を表示PDF形式でダウンロード (2284K) -
田井 秀男, 山本 和成, 安部 健, 植木 孝, 田中 弘明, 上原 喜代治1988 年 24 巻 5 号 p. 452-458
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーIt is known that the 3.392-μm He-Ne laser emission (Ne 3s2-3p4) is strongly absorbed by methane while the 3.391-μm emission (Ne 3s2-3p2) is absorbed only weakly. This property of methane has been utilized in differential absorption laser radars (DIAL) for methane sensing. In conventional DIAL systems, a pair of lasers, one emitting the 3.392-μm line and the other 3.391μm, have been used as a light source. These systems need, however, not only complex optics but also its precise adjustment to align the two laser beams on the same optical path. These problems are solved by using a dual-wavelength He-Ne laser developed recently. This laser emits the two lines coaxially whose intensities are modulated with equal amplitudes and opposite phases to each other. In the present paper two simple and sensitive methods of quantitative remote sensing of methane using a dual-wavelength HeNe laser are demonstrated. In the first method, two detectors are used, one monitoring both wavelength components, and the other only the 3.391-μm component in the reflected radiation. In the second method, the double modulation technique makes it possible to use only one detector. Laboratory simulation shows that both methods are capable of measuring quantitatively density-pathlength products down to about 40ppm·m at a signal-averaging time of 3s with reflecting targets at a 2.5-m distance. When the reflectivity is high, a 100ppm·m leakage can be detected with a target as distant as 30m.抄録全体を表示PDF形式でダウンロード (1859K) -
武藤 康彦, 崔 霖, 市川 邦彦1988 年 24 巻 5 号 p. 459-466
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, the structure of the generalized interactor matrix of the linear multivariable systems is concerned using the properties of the di-column improperness of a polynomial matrix. The gneralized interactor matrix of a transfer matrix T(s) is defined by the polynomial matrix L(s) which satisfies lims→∞L(s)T(s)=K: K is a nonsingular constant matrix where L(s) is not necessarily a lower left triangular matrix.
The purpose of this paper is to discuss the necessary and sufficient condition for the polynomial matrix L(s) to be the generalized interactor matrix of T(s). It turnes out that the property of the minimal di-Γ-matrix which is a constant matrix derived from the numerator polynomial matrix of T(s) decides the structure of the generalized interactor matrix L(s).抄録全体を表示PDF形式でダウンロード (917K) -
不安定零点問題の回避美多 勉, 千田 有一1988 年 24 巻 5 号 p. 467-474
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーIn the design of digital controller, the existence of unsatble zeros (for example, unstable limiting zeros) makes it difficult to construct many control systems, such as inverse systems, robust controller, model matching system and model following adaptive controller. This paper proposes a new control methods in which two outputs are used which are the output at the frame sampling point and auxiliary output at the time leading to the frame sampling point by mT(0<m<1), where T is frame sampling period. If such a system description is used, the resulting system is proved to have no invariant zeros, that is, the two set of outputs have no common invariant zeros. When such a system description is used, it is easy to construct stable inverse even though the continuous time plant is non-minimum phase, and unknown input observer is constructed.
The dual description of this system is used to assign invariant zeros and used to design model matching system. Such control strategy is completely new but simple, so many applications are expected.抄録全体を表示PDF形式でダウンロード (1051K) -
小西 克信, 芳村 敏夫, 大塚 浩明1988 年 24 巻 5 号 p. 475-482
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a method to solve the Bezoutian equation for the indirect pole-placement control of single-input single-output linear non-minimum phase systems with unknown constant parameters. The method consists of three steps; (i) the elementary transformation of the Sylvester resultant matrix into the upper triangular form by pivot searches, (ii) the exclusion of the common factors from each rows of the matrix obtained in the step (i) when a pivot becomes too small or zero, and (iii) the calculation of controller parameters from the linear simultaneous equations of which coefficient matrix is the transpose of the matrix obtained by the step (ii). Since the polynominal composed of the common factors is obtained directly from the row elements above the small pivot, the factrizations of the system polynomials are not required. These solusion procedures are illustrated by the numerical examples, and the validity of the proposed method is proved by using the concept of the linear transformation of state variables.抄録全体を表示PDF形式でダウンロード (1086K) -
舟橋 康行, 加藤 久雄1988 年 24 巻 5 号 p. 483-489
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a design method for the minimal-time deadbeat digital controller with optimal robustness using two-parameter compensation scheme. The whole system is guaranteed to be internally stable, because the disired controller is determined among the class of all stabilizing controllers.
In the case of one-parameter compensation scheme, the robustness optimization is in conflict with the deadbeat steps. So robustness can only be improved at the cost of the increase of deadbeat steps.
In this paper, using two-parameter compensation scheme, the minimization of deadbeat steps and robustness optimization can be carried out separately. The method possesses a feature that the optimal robustness is attained with the minimal-time deadbeat controller.
We also design a robust deadbeat controller among the class of robust tracking controllers. The robust tracking system is the one whose steady-state error is zero whenever internal stability is maintained for the slightly perturbed plant. It is shown that optimal robustness and minimal deadbeat steps are also achived simultaneously for this system.抄録全体を表示PDF形式でダウンロード (920K) -
則次 俊郎, 和田 力, 伴野 順一1988 年 24 巻 5 号 p. 490-497
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper examines the availability of a modern control theory to the pneumatic servo system implemented with a pneumatic cylinder and electro-pneumatic proportional control valves. Due to the low stiffness from air compressibility, a pneumatic system is limited in a response speed and very sensitive to the variation of frictions or load forces. These difficulties may be overcome with the high gain control or the control law including an integral action. On the other hand, the available electro-pneumatic control valves involve a considerable operating delay time, which makes such controls more difficult.
In this study, to compensate the valve delay, which is formulated as an input time-delay in the discrete state equation, for which the 0-type and 1-type optimal servo systems are designed. Experiments show that the control system design considering the valve delay makes the 1-type servo system satisfactory with both stability and response speed, so that the advanced position control performance can be obtained independently of load forces.
The proposed servo systems require only a position sensor, and estimate other state variables by the observer. Moreover, the used computer has so sufficient computational ability that it can also control some servo systems simultaneously to lower the cost for one cylinder. Consequently; it proves that the application of a modern control theory can fairly improve the control performance of pneumatic servos without losing its simplicity and low cost advantages.抄録全体を表示PDF形式でダウンロード (1004K) -
浜田 広児, 松島 晧三1988 年 24 巻 5 号 p. 498-505
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーA new adaptive model on the human operator in a Man-Machine system is proposed.
The model is constructed on the basis of a Man-Machine control experiment result. In this study, as a controlled object was used the 2nd order servo mechanism whose feed back loop suddenly breaks during operation.
The experimental results show that whole control process can be separated into 3 parts. The second part of them is the adaptive process in which human operator has to adapt his/her control action to the new situation, and which is a kind of damped Bang-Bang operation.
As a result, the model has a hierachic structure with 2 sets of Meta rules and 3 sets of Fuzzy rules. In identifing the structure of Fuzzy rules, the clustering technique is applied. And the validity of the adaptive Fuzzy model is verified with simulation.抄録全体を表示PDF形式でダウンロード (1002K) -
赤堀 一郎, 原 辰次1988 年 24 巻 5 号 p. 506-513
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーA new type CAD system for control system analysis and design has been developed on a workstation, which is written in Smalltalk-80, an object oriented language, combined with C and Lisp. The system has the following features: 1) The system can aid designer not only for numerical computation served in the conventional CAD systems but also for symbolic manipulation and knowledge processing. Since these all facilities are integrated in the uniform Smalltalk environment, the system can provide the advanced functions, and then the designer can conduct almost all operations required for analysis and design.2) The system is based on the concept of “virtual environment for analysing and designing control system”, which can provide an environment very close to real situation using real instruments. The object oriented programming paradigm is useful in making this environment. 3) The system has user friendly interface with multiwindow and mouse.抄録全体を表示PDF形式でダウンロード (2375K) -
岩尾 範人1988 年 24 巻 5 号 p. 514-521
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーIn order to develop steady state models of blast furnase systematically, the auther proposed “Basic Model of Blast Furnace operation (BM-BF)” in his Paper (1).
According to this BM-BF, the equation of relation between reaction raw materials and reaction products (I/O-BE: Input/Output-Basic Equation) could be casily derived by making use of material balance and reaction products analysis data.
And the equation of relation between reaction rate, reaction products and reaction raw materials (N-BE: Node-Basic equation) could be also obtained at each node of BM-BF.
In his next Paper (2), the auther proposed “Basic Model of Simplified Blast Furnace (BM-SBF)” in order to avoid mathematical complexity resulting from many I/O variables of real blast furnace. He showed that the equations to be solved outnumbered the unknowm variables to be obtained when calculation was made to get reaction products by I/O-BE.
Therefore, he indicated that the various combination of solution could be obtained depending on how to select the equations.
In the first part of this Paper, based on two Goodness Criteria (rmsD, rmsN), the various calculating methods of reaction products mentioned above were compared each other by adopting the process data (raw materials and reaction product analysis data) generated randomly.
In order to apply two Goodness Criteria quantitatively, it was necessary that the calculating methods of reaction products should be linearized with the process data.
Attempts were made to linearize the calculating methods and he found the way of linearization with quite good accuracy. The methods of linearization and its results were also described, in the second part of this paper.
Finally, the auther indicated that the calculating method employed traditionally could be derived from two Goodness Criteria proposed here.抄録全体を表示PDF形式でダウンロード (1024K) -
宮埜 寿夫1988 年 24 巻 5 号 p. 522-527
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーA new regression algorithm for multidimensional scaling is given to find an optimal monotone function which approximates the given data with partial order restrictions under a least squares criterion. In multidimensional scaling, Kruskal's “Up-and-Down Blocks Algorithm” has been used extensively, which is only applicable to the simple order restrictions, and ordinal data which produces the partial order restrictions has been preprocessed in order to get simple order restrictions. Our algorithm makes it possible to analyze such data rather directly.抄録全体を表示PDF形式でダウンロード (742K) -
植竹 洋一, 大久保 重範1988 年 24 巻 5 号 p. 528-530
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーWe study feedback pole placement for continuous descriptor (generalized state-space) systems depending on parameters, which have the formE(ω)x(t, ω)=A(ω)x(t, ω)+B(ω)u(t, ω).Here, x(t, ω) and u(t, ω) are a descriptor variable and an input, respectively. The entries of the above matrices are real- or complex- valued continuous functions defined on a subspace of a multi-dimensional euclidean space.
Such systems arise in the study of descriptor systems whose coefficients are continuous functions of one or more parameters, neutral delay-differential systems, and spatially-distributed systems in descriptor form.
In the paper, we first define the pointwise-controllability for continuous descriptor systems depending on parameters of the above form. Next, we derive a sufficient and necessary condition for pointwise control lability in terms of a pointwise rank criterion. Then, for pointwise controllable systems, we describe pole placement by the descriptor variable feedback u(t, ω)=f(ω)x(t, ω) using feedback gains that also depend on parameters.抄録全体を表示PDF形式でダウンロード (392K) -
萩原 朋道, 荒木 光彦1988 年 24 巻 5 号 p. 531-533
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーA method of pole assignment is proposed for discrete-time systems with delays at plant input. The procedure consists of the usual pole assignment for the system without delays and simple algebraic calculation involving tuning parameters.抄録全体を表示PDF形式でダウンロード (325K) -
新中 新二, 川又 直樹, 佐藤 幹夫1988 年 24 巻 5 号 p. 534-536
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a well generalized parameter adjustment algorithm for adaptive systems. It enables unified analysis of properties and relations of a variety of algorithms reported individually.抄録全体を表示PDF形式でダウンロード (371K) -
小林 史典, 町田 秀和1988 年 24 巻 5 号 p. 537-539
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーThe calculation of the Hilbert transform has conventionally been accomplished by using FFT, has some redundancy. The proposed algorithm attains speed by employing the fast Hartley transform and calculation-step reduction. This algorithm is 30∼50% effective than the conventional ones.抄録全体を表示PDF形式でダウンロード (345K) -
佐々木 忍, 篠原 慶邦1988 年 24 巻 5 号 p. 540-542
発行日: 1988/05/30
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (364K)
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