巻号一覧
28 巻, 2 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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計測点間隔の短縮平 卯太郎1992 年 28 巻 2 号 p. 177-183
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーWe've already developed “Serial Multi-Point Method” to measure the surface profile with high accuracy.
In the method mentioned above, measuring point interval must be as same as the sensors' span and can't be shorten at will.
So, after confining the area of application only to roll used for plate rolling, we'll propose a supplemental method to shorten the measuring point interval arbitrarily.
In this method, we assume several groups of measuring points, points belonging to same group are of same interval as the sensors' span, and groups are slightly shifted one another to the measuring line-ward to place each one point of every group in a row by rotation.
And, the lower-powered function is utilized to acquire the macro shape common to all the groups' profiles measured beforehand with “Serial Multi-Point Method”
Then using this macro shape as the guide, each of profiles is moved and unified to obtain the final result of short measuring point interval.
We also certify the feasibility of this method with carrying out the numerical simulation, and with giving the proof of existence of the solutions namely coefficients of lower-powered function and quantities of move to be added to unify individual profiles into one.抄録全体を表示PDF形式でダウンロード (1093K) -
森本 祐治, 嶺 勝敏1992 年 28 巻 2 号 p. 184-188
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーRecently the progress in microelectronics has been made in creating complex, highly sensitive, fast processing devices and equipment. Under actual working conditions signals by an instrumentation are inaccurate because of noise. For example, when testing the metal-fatigue of a car's drive-shaft with a strain gage on a real road we can not separate the signal of the strain gage from the noises in the surrounding electromagnetic environment, those from high voltage power lines, electric locomotives, etc.
We proposed three methods of ANC (alternating noise canceling) for the purpose of canceling the noise on the transmission line in an instrumentaion. These methods do not need the reference noise for noise canceling, even if the signal and noise can not be separated in the frequency domain. These three methods use an analog switch to perform the alternating switching of the sensor signals, so the noise added to the sensor can not be canceled.
In this paper, we are proposing a new method of ANC which cancels the noise not only on the transmission line, but also on the sensor. This method uses a rectangular voltage source for switching the polarity of the sensor signal. We have verified the validity of this method by experiments using a strain gage.抄録全体を表示PDF形式でダウンロード (779K) -
岡田 英史, 榎本 宏, 南谷 晴之1992 年 28 巻 2 号 p. 189-198
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーFlow visualization techniques provide valuable information about behavior of fluid flow, however they are unsuitable for quantitative analysis. Particle image velocimetry (PIV) based on flow visualization has become a well-established technique for the quantitative analysis of velocity field in a two dimensional region of fluid flow. In principle the technique records two superimposed images of particles within the flow on a photographic film and multi-point velocity vectors can be deduced from the displacement of the particles within small interrogation region. The recording process for particle image velocimetry is a time consuming job because of chemical processing to develop a doubly exposed photograph. Since a liquid crystal display has the function of spatial light modulator just like a photographic film, the particle image velocimetry with a liquid crystal display and an image processor for recording and composing images was constructed in this study. In order to confirm the performance of the velocimetry, fundamental analyses of image recording and sequential optical processing were presented using a model pattern and using steady flow of water in a flow channel.抄録全体を表示PDF形式でダウンロード (5113K) -
長谷川 泰道, 松尾 強1992 年 28 巻 2 号 p. 199-207
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーIn this paper the discrete-time system is treated. And it is discussed the realization problem of pseudo-linear systems to be the special class of affaine dynamical systems. Pseudo-linear systems are the affaine dynamical systems in which free motions are able to be considered. The realization theorem of affaine dynamical systems had already been established. The theorem being based on, realization problem of pseudo-linear systems is discussed.
Generally speaking, the realization problem is stated as follows.
[Let I/O be the set of input/output map to be a black-box and CD be the category of dynamical systems which have the same behavior as the given black-box, it is intended to obtain the following realization theorem.
Realization theorem:⌈For any given input/output map a∈I/O, there exist at least one dynamical system σ∈CD which has the behavior a. Let any σ1, σ2∈CD have the same behavior, then σ1 is isomorphic to σ2 in sense of category CD.⌋]
In the realization problem of affine dynamical systems, let I/O be the set of any input/output map with causality (that is equal to treating any input-response map), let CD be the category of canonical (quasi-reachable and distingushable) affine dynamical systems, then the realization theorem of affine dynamical systems have been obtained.
In this paper, let I/O be the set of any input-response map with time-invariance and let CD be the category of pseudo-linear systems, then the realization theorem of pseudo-linear systems is obtained.
It is also showed that electric circuits with a transistor are examples of pseudo-linear systems.抄録全体を表示PDF形式でダウンロード (1363K) -
蘇 来平, 斎藤 制海, 阿部 健一1992 年 28 巻 2 号 p. 208-215
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーFor linear periodic discrete-time (LPDT) plants, the closed-loop systems are linear periodic in general when periodic compensation is adopted. However, in some cases, the closed-loop system can be made to be linear time-invariant (LTI) by choosing the compensator suitably. In these cases, we say the plant is LTI model realizable.
In this paper, we consider the LTI model realization problem of LPDT systems (period: N) following the transfer function approach. Defining the transfer function of LPDT plant, we give a special coprime factorization for the transfer function, in which every factor is lower triangular at the origin. Then the class of all LPDT stabilizing compensators can be parametrized similar as YJB parametrization, with free parameters chosen being lower triangular at the origin. Using such stabilizing compensators, we show the necessary and sufficient condition for realizing the closed-loop as LTI, and give the class of all realizable LTI models.
We show also that, the class of all realizable LTI models by N-periodic compensation is same with that by pN-periodic compensation (p: arbitrary positive integer).抄録全体を表示PDF形式でダウンロード (1563K) -
舟橋 康行, 加藤 久雄1992 年 28 巻 2 号 p. 216-221
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a design method of preview controllers. It is expressed by natural extension of the parametrization of all causal stabilizing controllers, which is derived by Youla, et al. What we do is to extend causal feedforward controllers to uncausal ones.
We use the two-degree-of-freedom control system in this paper, since there is no feedforward controllers in the one-degree-of-freedom system.
Moreover we get the parametrization of all preview controllers which follow the step responses, and then determine the optimal controller which minimizes the input/output responses with respect to L2 norm among all preview controllers.
The preview control has been considered in the perspective of the optimal control, therefore in the framework of the statespace method. Our approach to the optimal preview control in this paper can be considered as another approach using the transfer function method.抄録全体を表示PDF形式でダウンロード (825K) -
武藤 康彦1992 年 28 巻 2 号 p. 222-227
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーThe objective of the exact model matching (EMM) control is to make the closed loop of a plant and compensators into an ideal reference model transfer function. This controller consists of an observer polynomial, an interactor polynomial and controller polynomials. In the EMM system, it is common to choose the degree of the observer polynomial to be the same as that of a reduced ordered observer. This implies that the controller polynomials are uniquely determined by solving the Diophantine polynomial equation. If the degree of the observer polynomial in the EMM system is greater than that of the reduced ordered observer, controller parameters have freedom, which means that there is a set of controller polynomials by which the EMM is attained.
In this paper, using this freedom of controller parameters, a design method is presented for the EMM system which will also reduces the effect of measurement noise on the plant output. This paper will show that the effect of measurement noise can be reduced as the order of the observer polynomial increases.抄録全体を表示PDF形式でダウンロード (1259K) -
佐々木 基文, 早川 義一, 藤井 省三1992 年 28 巻 2 号 p. 228-236
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーWe present an actual finite-dimensional VS-MRAC (Variable Structure Model Reference Adaptive Control) for an asymptotically stable distributed system (plant) with input and output disturbances and with arbitrary relative degree. First, we construct the ideal finite-dimensional VS-MRAC. Secondly, using this result, we design the actual finite-dimensional VS-MRAC. Main results are that 1) the equivalent controls can be approximated by the average controls, 2) the output error between the plant and the model becomes asymptotically arbitrarily small and that 3) all signals in the closed-loop system is assured to be ultimately uniformly bounded. Finally, we show that the proposed method is effective by the use of a simple numerical example.抄録全体を表示PDF形式でダウンロード (1645K) -
有本 卓, 浪花 智英1992 年 28 巻 2 号 p. 237-246
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーPassivity is one of key characterizations of the Lagrange equation of motion for various mechanical systems including robot arms. After introducing a set of postulates for learning control, this paper points out the importance of passivity in learning control for refinement of motions in mechanical systems. In particular it is shown that, given a desired output motion trajectory, the exponential passivity with a quadratic margin for residual error dynamics between the actual motion and the desired one plays a crucial role in steady improvement of motions. Hence it is claimed that this properly deserves to be called“learnability”(inherent ability of learning) because it implies the convergence of motion trajectories to the desired one. In addition, robustness problems of learning are discussed when the existence of initialization errors and fluctuations of dynamics are permitted to some extent. It is shown that introduction of a forgetting factor into the update law of learning is crucial in assuring the uniform boundedness of motion trajectories and the convergence of them in an ε-neighborhood of the desired one. Finally a special class of learning methodology called“selective”learning which updates the content of a long-term memory every after several trials is proposed in order to accelerate the speed of convergence.抄録全体を表示PDF形式でダウンロード (1825K) -
松原 正一1992 年 28 巻 2 号 p. 247-254
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーThe inverter-fed induction motor drives are in these days very widely applied to the variable-speed drive systems. In these variable-speed use of induction motors, however, an instability accompanied by speed fluctuations appears often in light-load and low-speed operations. This is caused not by the introduction of the inverter but by the induction motor itself.
This phenomenon is such that an equilibrium point becomes unstable as the operating condition is varied and that a stable limit cycle appears around the equilibrium point. So, from the bifurcation-theoretical standpoint, this is to be dealt with as the Hopf bifurcation. However, only a few investigations based on such a standpoint have been reported so far.
In this work the stability of an induction motor driven by a variable-amplitude and variable-frequency sinusoidal voltage source is investigated from the bifurcation-theoretical standpoint to clarify the essential character of the instability of concern. The entire bifurcation set is determined in the control space of the system. A motor model in which the magnetic saturation is considered is adopted and the effects of the saturation on the instability are discussed.抄録全体を表示PDF形式でダウンロード (1335K) -
田中 泰太郎, 足利 貢1992 年 28 巻 2 号 p. 255-263
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーThe model parameters of a gas turbine, which has nonlinear characteristics, are variable under the effect of load change, environmental conditions, and so on. Therefore, robust control is necessary for sufficient controlability. Especially, property to keep the response of control system unvaried against the change of dynamics of a gas turbine is desirable for the reliability of over speed protection, that of acceleration control and operationability of a vehicle gas turbine. Design of robust control system is more difficult for a two-spool gas turbine than a one-spool gas turbine because of many variable parameters of a gas turbine model. This paper mentions the robust control design method which keeps the response of a two-spool gas turbine control system unvaried, as well as experimental results which show the usefullness of the design method. Using this design method, optimal values of control parameters which keep the control system model closest to the α assigned reference model within the region of variation of gas turbine parameters can be obtained. This reference model, which is used for the partial model matching, has a certain range for obtaining desirable response. This property of the reference model gives robustness to a gas turbine control system without excessive high gains.抄録全体を表示PDF形式でダウンロード (1725K) -
正司 康雅, 稲葉 忠, 福田 敏男, 細貝 英実1992 年 28 巻 2 号 p. 264-272
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーIn this paper, a methodology using the Lyapunov direct method is proposed to analyze the stability of a nonlinear redundant multi-link manipulator system which is positioned on a flexible wall with collision phenomenon. The stability and response of the system are examined by parameter studies of numerical simulation. As the demands for rapid motion of robotics has been increasing in the field of industry to achieve higher efficiency, collision has become a problem to be solved, because every task includes contact when manipulator acts on an object. However, few researches have been undertaken to overcome this problem. In this paper, we employ a Hertz-type model with energy loss parameter to express the impact force between the manipulator and the wall. Using this model, we proved theoretically by Lyapunov direct method that this nonlinear system can be controlled with linear feedback law and that collision has the stabilization effect. The facts are confirmed by the simulations. In the simulations, it is also shown that simple decoupled feedback is more preferable than coupled feedback, if stability is more important than any others. As a result, stable positioning of the manipulator on the flexible wall is assured, and use of collision is sometimes effective to control manipulator to do a task with rapid contact to environment.抄録全体を表示PDF形式でダウンロード (1627K) -
織茂 昌之, 森 欣司1992 年 28 巻 2 号 p. 273-280
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーRecently distributed processing systems have been increasingly developed with various applications through advances in LSI technology and network technology.
In large scale distributed systems, the probability that some parts of the system are in failed state is high, moreover, the failed parts are repaired during operation of the system. Therefore, the system has come to require fault tolerance in order to keep its operation partially continueing by the cooperation of operational subsystems. For attaining this requirement, it is necessary for each subsystem to autonomously perform its function, that is, to administer its own resources and has its own self-contained fault detection and recovery mechanism.
In designing these systems described above, it is necessary to evaluate how to decompose the system in order to attain autonomously functioning subsystems. But this decomposition of the system has not been discussed and clarified.
In this paper, the method for evaluating the decomposition of system is proposed from the standpoint of fault tolerance. In this method, trade-off between loss and profit of the decomposition is evaluated by the functional reliability measure. Using this method, it is shown that the loss in the decomposition can be compensated by the profit in the decomposition. This method is applied to the loop network system and its effectiveness is shown by numerical examples.抄録全体を表示PDF形式でダウンロード (1548K) -
曹 麗, 小林 彬1992 年 28 巻 2 号 p. 281-283
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーA new method is proposed to estimate the band-width of spectrum for NBR signal by analyzing an autocorrelation function of its envelope. Simulation shows that a spectral band-width of NBR signal is determined simply from envelope analysis.抄録全体を表示PDF形式でダウンロード (413K) -
佐々 修一1992 年 28 巻 2 号 p. 284-286
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーOne method to calculate sensor accuracy necessary for Kalman filter is presented. It is an inverse problem of the Riccati equation in Kalman filter, and observation sensor or input sensor accuracy is searched numerically to achieve the specified estimation error.抄録全体を表示PDF形式でダウンロード (356K) -
島村 徹也, 鈴木 誠史1992 年 28 巻 2 号 p. 287-289
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper proposes an AR parameter estimation method which can provide good estimates in short data record case. The model produced by this method can be adopted into time-series generation procedure which is constructed by complex filters and has good finite word-length properties.抄録全体を表示PDF形式でダウンロード (347K) -
江上 正, 漆畑 真吾, 土谷 武士1992 年 28 巻 2 号 p. 290-292
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーFrequency dependent digital optimal servo system which improves the frequency characteristic of closed loop is proposed in this paper. The effectiveness of this servo system is shown for a design of PWM inverter pulse pattern.抄録全体を表示PDF形式でダウンロード (356K) -
則次 俊郎, 高 宏, 和田 力, 日吉 信博1992 年 28 巻 2 号 p. 293-295
発行日: 1992/02/29
公開日: 2009/03/27
ジャーナル フリーThis paper proposes a visual sensing system comprising laser beam sources and a camera, which is applied to the uncontacted tracking control of a robot manipulator. The image based visual feedback control system is constructed using a fuzzy controller. The proposed control manner do not require any coordinate calibrations between visual sensor and manipulator. Also it can improve the control performance without elaborate gain adjustments.抄録全体を表示PDF形式でダウンロード (366K)
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