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Volume 28, Issue 5
Displaying 1-18 of 18 articles from this issue
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Michiharu HORIUCHI, Takashi ISOBE1992 Volume 28 Issue 5 Pages 537-546
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAn orifice plate is provided in the midst of a flow tube about 30cm long. A reciprocating piston device with the cylinder coaxial with the meter run is located at about 5 flow tube diameters upstream of the orifice meter. On the downstream side, it forms a discharge flow tube and is open to the atmosphere at the end. This simple equipment enables us to obtain a particular type of pulsating air flow through the orifice under specified conditions, so that we attempted to formulate mathematically the changes of the state of air in the flow tube in an operating condition.
In making formulation, it was found that the principle of conservation of energy furnishes a satisfactory basis for reasoning. The increasing rate of the total amount of energy income and expenditure in the air in each section of the flow tube separated by the orifice plate is equated with the increasing rate of the internal energy of the air in that section. A set of ordinary differential equations obtained as the result of formulation is numerically integrated on a personal computer. The instantaneous values of pressure calculated in the upstream section of the flow tube were found to be satisfactorily in agreement with those observed from the oscillogram.View full abstractDownload PDF (2146K) -
Yuzo YAMANE1992 Volume 28 Issue 5 Pages 547-554
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe model matching design technique is a useful approach to design a control system so that the transfer function of the resultant control system coincides with one of the reference model. Once the desired reference model is assigned, stability of output error between the plant and the reference model is dependent only on poles of controller and reference model. This fact permits limitation of stability of error equation specially when the reference model has slow decaying poles. As to the arguments of improving the stability a double model matching technique provide a striking tool because the error equation is determined to have arbitrary poles independent of poles of the reference model. At the same time controller composed of state feedback and feedforward gains has free vector parameters to prescribe any location of stable region. By any suitable choice of the parameters many different kinds of controller can be constructed as well as holding the model matching condition.
In addition with above characteristics, this paper has two features,
(1) state tracking between the plant and the reference model.
(2) direct derivation of analytical solution of Diophantine Equation and its relation to each gain of controller.View full abstractDownload PDF (1029K) -
Kenji IKEDA, Seiichi SHIN, Toshiyuki KITAMORI1992 Volume 28 Issue 5 Pages 555-563
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA decentralized adaptive control scheme is presented for the stabilization of interconnected subsystems. The proposing decentralized control scheme is based on the conditions that the information required for the design of each subsystem and the measurement available for each control are restricted to those of that subsystem. The magnitude of the interconnection and/or the information about the other subsystems are not necessary for the design and the control.
The assumptions about the controlled plant are the followings; (A1) the interconnection enters into each subsystem through its input, and (A2) the transfer function from the input to the output of each subsystem is minimum-phase and its relative degree is one. The assumption (A1) is made for, decentralized stabilizability of the overall system, while (A2) for robust high gain stabilizability of each subsystem.
The proposing control law consists of the output feedback of each subsystem, and each feedback gain is tuned adaptively. The σ-modification is used in the parameter adjustment law since the control objective here is small regulation errors with small feedback gains. The stability analysis shows that the solutions of the system are bounded where disturbances are bounded.
Numerical analysis is performed to illustrate the robustness of this method to the bounded disturbances and the controller breakdown in one of subsystems.View full abstractDownload PDF (1177K) -
Weiben WANG, Hiroshi INABA1992 Volume 28 Issue 5 Pages 564-569
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn 1983, Hautus and Heymann introduced the notion of proper independence to the linear space over the field of rational functions and gave a method for constructing a properly independent basis from the generators of a linear subspace using transformations by polynomial matrix. Using this method, they gave necessary and sufficient conditions for decoupling a injective multivariable linear system by static state feedback.
In this paper, we first propose a method to construct a properly independent basis from the generators of a linear subspace by means of transformations of the generators by bicausal rational matrix. Then, based on this method we show conditions which are equivalent to those of Hautus and Heymann, but which are much simpler to be checked than theirs. In the same time, the new result provides a method to find a decoupling static state feedback.View full abstractDownload PDF (1066K) -
A Direct Approach Based on Completing the SquareAkira KOJIMA, Masayuki FUJITA, Kenko UCHIDA, Etsujiro SHIMEMURA1992 Volume 28 Issue 5 Pages 570-577
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the H∞ output feedback problem, there are two types of central controllers, which play a central role in characterizing all controllers achieving disturbance attenuation in the sense of the H∞-norm.
In this paper, we provide a unified game-theoretic interpretation to the both types of central controllers. By employing completing the square argument of particular quadratic forms, we clarify that the two types of central controllers form different saddle points together with the corresponding worst-case disturbances. In the derivation of each saddle point, the difference is in the particular choice of quadratic-form functionals to which we apply the completing the square argument.
Then generalizing the approaches established here, we secondly consider a mixed attenuation problem of disturbances and initial-uncertainties. The trade-off between the attenuating the disturbances and the initial-uncertainties are characterized by the solution to the filtering Riccati equation.View full abstractDownload PDF (1527K) -
An Application to Bolt-Fastening OperationsJun ISHIKAWA, Kazuhiro KOSUGE, Katsuhisa FURUTA1992 Volume 28 Issue 5 Pages 578-586
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a control of an assembling robot using vision and force sensors. In assembling, the task is planned by the task planner and its corresponding trajectory of the robot is planned as the reference trajectory. The robot should also adapt to the environmental variation. To coordinate the planner and robot, the vitrual internal model is used to modify the planned reference trajectory according to the environmental variation. In this paper, the use of vision and force sensors is proposed in the virtual internal model for the error correction in the assembling. A simple assembling task is experimentally achieved to verify the validity of the proposed method. The assembling task considered is screwing a bolt by the open end wrench fixed to the wrist of the robot, where the bolt is not accurately placed at the fixed predetermined place. The experiment shows that the proposed control system works satisfactorily.View full abstractDownload PDF (2058K) -
Toshiro NORITSUGU, Tsutomu WADA, Hiroshi KOBARA1992 Volume 28 Issue 5 Pages 587-594
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSTo apply a pneumatic actuator more effectively in various automation systems, a pneumatic servo technology should be developed. Recently, from such a viewpoint, the effects of some advanced control strategies as an optimal control or an adaptive control have been confirmed. However, they seem to need some time until put into practical use because of their relatively complicated control algorithms. From the practical application of view, it should be as simple as possible.
In this paper, we take notice of the simplicity of a posicast control and propose an advanced posicast control scheme with learning funcion to execute the self tuning. First, we describe the typical features of proposed control scheme. Next, we apply it to the positioning and force control of a pneumatic servo system comprising a pneumatic cylinder and electro-pneumatic proportional control valves. The following is experimentally confirmed.
1) The addition of learning function to the original posicast control scheme allows a finite time settling step response even in a certain degree of high order system such as a pneumatic system. Moreover, it is considered to allow the system to adapt to the change in system parameters, the control input saturation and so on.
2) The proposed control scheme can attain the higer speed and more accurate positioning and force control compared with an usual PI control scheme, so it is well available to a pneumatic servo control.
Generally, a posicast control may be effective for a low damping system such as a pneumatic servo, because it basically utilizes a oscillation property of the controlled system.View full abstractDownload PDF (1349K) -
Toshiaki MAKINO, Junichi OIZUMI, Naoto HASHIMOTO1992 Volume 28 Issue 5 Pages 595-603
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSHigh accuracy, high response guidance and high steering mechanism response at high speed are required to improve the travelling characteristics of an unmanned delivery cart (AGV: Automatic Guided Vehicle), which is a component of modern FA systems.
In this paper, an image sensor guidance scheme and steering mechanism for a high-speed AGV are developed considering limit velocity for stable travel and control system stability. Factors which effect on steering characteristics are examined through computer simulation and experiments. An Image sensor guidance scheme is considered by examining with an equivalent image sensor.
The sensor is attached to the steered and driven wheel, and detects a pre-set route by following guiding tape bonded to the floor.
In the experiment, the developed high-speed AGV is 100kg load rated. The high-speed AGV was verified to travel smoothly on straight routes at 120m/min, and on curved routes at 60m/min with as little as ±5mm amplitude and 1sec. period hunting motion, which is less than the guiding tape width.View full abstractDownload PDF (2462K) -
Seiya UENO1992 Volume 28 Issue 5 Pages 604-609
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe long-range aircraft cruise problem is very important for airlines which desire to minimize fuel consumption. Many papers have been appeared including the case which the criteria involve cruising time. Most of them, however, solve the problems under condition of a steady-state flight. In other word, they optimize the constrained problem. In the present operation, the altitude and velocity are chosen the optimal ones that are derived from the solution of a minimum fuel problem for a steady-state level flight. This solution satisfies the neccessary conditions of optimality. However, it is shown that the steady cruise is non-convex. The non optimality of a steady cruise is also reported, and the optimal solutions are solved using a periodic control that repeats the same sequence of unsteady controls and trajectories.
In this paper, the long range minimum fuel problem is solved numerically under the assumption that the optimal thrust control becomes a bang-bang type. The aircraft weight change during one period is ignored. Under the boundary condition that the initial states are the same as the terminal ones, the optimal problem is solved. The equations of motion for an aircraft is the point-mass model, the atomospheric density is a funcion of the altitude.
It is shown that the optimal arc consists of two quasi-steady subarcs. It is also shown that the same subarcs are derived by using a reduced order model. The optimal controls for this model become the chattering type. The control and state variables of this solution are characteristic of the unsteady optimal cruise.View full abstractDownload PDF (882K) -
H∞ Control SynthesisEiichi ONO, Yasutaka HAYASHI, Shun-ichi DOI, Kaoru TAKANAMI, Shigeyuki ...1992 Volume 28 Issue 5 Pages 610-618
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSAccording to appearance of 4WS (Four Wheel Steering) systems and Active Suspension systems, control technology will bring a progress in the vehicle performance. Although Active Suspension systems mainly contribute to the vehicle attitude control at ordinary turning motions, a distribution of suspension loads much affects a vehicle maneuverability and stability at critical turning motions. In designing a vehicle maneuverability control at global regions, suspension as well as steering characteristics must be considered. Then, vehicle integrated control technology attracts attentions.
In this paper, a vehicle model which includes non-linear tyre characteristics is linearized by a non-linear variable transform and by ignoring high order non-linear factors. Then, a sufficient condition of robust stability for this non-linear perturbation is proposed. With this condition, H∞ control theory constructs a robust control law for a steering and suspension MIMO system. Furthermore, some computer simulations demonstrate integrated control effects.View full abstractDownload PDF (1620K) -
Toshitaka UMEMOTO, Nobuharu AOSHIMA1992 Volume 28 Issue 5 Pages 619-625
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWhen we tanscribe from digital musical data to a musical score using fast Fourier transform, the peak frequency is identified by the interpolation of its complex spectrum. It is necessary for this method to make corrections of frequeny.
This paper deals with a transcription using adaptive technique. It is unnecessary for this method to make corrections of frequency, because the peak frequency is identified by spectrum analysis along the musical scale. Experimetal results of transcription for two monophonic Japanese monophonic music are illustrated.View full abstractDownload PDF (1222K) -
Variable Hierarchical Structure Learning Automata with a Stationary Random Environment at Each LevelYoshio MOGAMI, Norio BABA, Takanori TAGAMI1992 Volume 28 Issue 5 Pages 626-631
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, the learning problem in which the details of learning objects are not known clearly in advance is considered. For this problem, a new hierarchial structure learning automata (variable hierarchical structure learning automata) is proposed, which has a stationary random environment at each level. This automata changes its structure based on the new information of learning object. The learning property of this automata is considered theoretically and it is proved that the probability of this automata finding the best object can be approached 1 as much as possible. And, by numerical simulation, the profile of learning by this algorithm is shown.View full abstractDownload PDF (1418K) -
Susumu HASHIZUME, Takashi SUZUKI, Katsuaki ONOGI, Yoshiyuki NISHIMURA1992 Volume 28 Issue 5 Pages 632-639
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThough a large amout of work has been reported on analysis of Petri nets, even reasonable problem formulation has not yet been given on design of them. This paper first discusses problem formulation for the design of condition/event-nets (C/E-nets) and next defines a construction problem as: given a set of partial words over the set of events as specification, construct a C/E-net which preserves only the sequentiality, parallelism and nondeterminism in the specification. To investigate the existence of solutions it then introduces a formal description of partial languages and presents a necessary and sufficient condition for the problem to be solvable. It also suggests a method of finding solutions.View full abstractDownload PDF (1429K) -
Yasuaki OKUMURA1992 Volume 28 Issue 5 Pages 640-642
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA current meter was developed. The velocity is detected by Savonius rotor and a small vane is used as the direction sensor. Observations have been carried out in Lake Biwa.View full abstractDownload PDF (401K) -
Nobuaki KOBAYASHI, Akira KATOH, Takayoshi NAKAMIZO, Mituhiro SAKURAI1992 Volume 28 Issue 5 Pages 643-645
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we discuss the property of a limiting form derived from a standard discrete-time linear optimal regulator problem by letting a weighting matrix with input vectors tend to zero. It is shown that there exists an explicit relationship between limiting form of discrete-time linear optimal regulators and the exact disturbance decoupling problem.View full abstractDownload PDF (357K) -
Hiroshi YOSHIDA1992 Volume 28 Issue 5 Pages 646-648
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis short paper deals with the controllability of single input linear discrete-time systems with positive controls, and derived necessary and sufficient conditions for the system to be controllable to the zero state.View full abstractDownload PDF (341K) -
Masatosi NAKAMURA, Hideyuki KODA, Nobuhiro KYURA1992 Volume 28 Issue 5 Pages 649-651
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper concerns with the sampling rate for sampling control of continuous contour control by servo system such as industrial robots. We derived a formula for the required sampling rate for the sampling control theoretically in order to exhibit a satisfactory control performance.View full abstractDownload PDF (451K) -
Takuya TAKAGI, Noboru OHNISHI, Noboru SUGIE1992 Volume 28 Issue 5 Pages 652-654
Published: May 31, 1992
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSWe describe a sufficient condition for simultaneously decomposing objects using multihands. We also propose a method for determining the minimum number of hands minimizing the number of steps needed for decomposition and for obtaining the optimum decomposition steps.View full abstractDownload PDF (1866K)
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