巻号一覧
31 巻, 1 号
選択された号の論文の20件中1～20を表示しています
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吉村 武晃, 周 敏〓1995 年 31 巻 1 号 p. 1-7
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThe optical system for on-line measurments of the surface roughness, which is based on the laser light scattering method, has been developted. This system is capable of acquiring the average slope of the surface profile only from measuring the intensity of scattered light, even if the sample plates are moved at high speed in its own plates and are tilted within 0.5deg. For application of this system to industrial inspections, two examples, i. e., surface roughness variations of cold-rolled steel sheets and coating weight variations of commercial quality galvanized sheets, were experimentally estimated. These results show the availability of the developed system.抄録全体を表示PDF形式でダウンロード (1203K) -
大型柔軟衛星への適用足立 修一, 須永 義弘1995 年 31 巻 1 号 p. 8-13
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーDesign and analysis of robust control systems, especially the H∞ control, have been studied actively and many application examples have been reported in various areas. However, in order to apply the robust control theory to a real plant, it is necessary to evaluate model uncertainty or unmodeled dynamics. Therefore, research on robust identification which means system identification for robust control has become one of the hottest topics in system identification. Roughly speaking, there are two types of robust identification methods, that is, deterministic one and stochastic one. In both methods, some a priori information about model uncertainty is assumed, and sometimes unrealistic assumptions are included. In this paper, a large space structure (LSS) is chosen as an identification object. On the assumption that physical structure of an LSS is known a priori, a new practical robust identification method based on the least-squares estimation in cooperation with decimation is proposed. Effectiveness of the method is examined through experimental data.抄録全体を表示PDF形式でダウンロード (1720K) -
楊 子江, 辻 輝生, 庄野 貴也1995 年 31 巻 1 号 p. 14-21
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, the authors propose a new identification method for the continuous-time impulse response model of a continuous linear system from sampled input-output data in the case of band-limited input, fast sampling rate and measurement noise of high level which may be colored. To achieve smooth estimate in the ill-conditioned situations, the continuous-time impulse response which is viewed as a band-limited continuous function of time, is approximated by a generalized radial basis function network (GRBFN). And the parameters of the GRBFN are estimated by the least-squares LS method. Since the center distance of the basis functions is usually chosen as multiples of the sampling interval, much less parameters require to be estimated. This leads to the improvement of the nonsingularity of the input correlation matix and therefore yields smooth estimate results. The design techniques of the center distance and the basis function width are also proposed using frequency-domain analysis. Simulation results are included to verify the performance of the proposed method.抄録全体を表示PDF形式でダウンロード (1519K) -
浪花 智英, 有本 卓, Louis L. WHITCOMB, 劉 雲輝1995 年 31 巻 1 号 p. 22-30
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーA new model-based adaptive control method for a class of robot manipulators whose end-point is moving in touch with a geometrically constraint surface is proposed. A contact force arises at the end-point of the manipulator. Therefore, the manipulator is controlled so as to track both the desired end-point trajectory given on the constraint surface and the desired contact force trajectory simultaneously.
The method is based on the model-based adaptive law that estimates unknown or uncertain physical parameters of the manipulator such as mass, inertia, etc., and constructs the control input by using the estimated values of these parameters. The position and force control of the manipulator is realized in the joint-angle space by orthogonalizing the position and velocity error vectors to the contact force error vectors through introduction of a projection matrix that projects vectors in the joint space to the tangent plane of the constraint surface.
The convergence of position and force trajectory errors is theoretically proved. In addition, computer simulation results are given to show the convergence of these trajectories and to demonstrate the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1519K) -
水戸部 和久, 劉 泓, 那須 康雄, 足立 紀彦1995 年 31 巻 1 号 p. 31-37
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper develops a parameter estimator for robot manipulators, which requires neither measurements of joint acceleration nor filtered torques applied to the joints. The method is directly applied to an indirect robot adaptive controller, and the gloval asymptotic stability result for the link position trajectory error is presented. The controller performance is tested by numerical simulation for a two-link robot manipulator.抄録全体を表示PDF形式でダウンロード (1433K) -
佐野 英樹, 国松 昇1995 年 31 巻 1 号 p. 38-47
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with the stabilization problem of semilinear distributed parameter systems with unbounded output operators. Especially, the output operators are assumed to be Aγ-bounded. For example, the semilinear diffusion system with boundary control and boundary observation is formulated as a semilinear evolution equation with Aγ-bounded output operator in a Hilbert space. Balas has shown that a nonlinear finite-dimensional controller with a nonlinear residual mode filter can produce closedloop stability with a given semilinear distributed parameter system with bounded input and output operators. However, he does not discuss on the systems with unbounded input operators or unbounded output operators.
In this paper, we show that Balas-type of nonlinear controller is also effective for the semilinear distributed parameter system with Aγ-bounded output operator. Then, we can give the decay rate of the closed-loop system by using the modified Gronwall's inequality. Moreover, it is shown that the use of nonlinear controller in the above brings more preferable result than the use of linear controller with a usual residual mode filter.抄録全体を表示PDF形式でダウンロード (1421K) -
舟橋 康行, 山川 聡子1995 年 31 巻 1 号 p. 48-55
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThe existence of unstable zeros makes it difficult to construct inverse system and model matching system, etc. It is well known that a system with unequal number of inputs and outputs almost always has no zeros. The two-delay output control system proposed by Mita et al attracts attention because it can avoid zeros. Two-delay output control system is a digital system which augments number of outputs by observing outputs twice in a sampling period.
In this paper, the condition to avoid zeros is obtained for the systems in which geometric multiplicity of zeros of basic discrete-time system is greater than one. By using the state-space representation, the necessary and sufficient conditions are obtained that two-delay control system achieves strong stabilization. Furthermore, it is shown that the necessary and sufficient conditions to construct a stable inverse system are the same as the conditions for strong stabilization.抄録全体を表示PDF形式でダウンロード (1250K) -
赤坂 則之1995 年 31 巻 1 号 p. 56-65
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThe quality of a wide film manufactured is determined by the flatness of the film thickness along the width of the film. To control the film thickness in the lip-heater method, an uniform distribution of melted polymer flow velocity in the gap between die lips is required, which is realized by making use of one hundred or more regulating heaters.
In this paper, the following technical proposals of the film thickness control system design are described in order to overcome the difficulties of thickness control.
(a) A “fundamental control system” is introduced.
A “fundamental model” consisting of five thickness measurement points and five heaters is assumed. A fundamental control system which can control the thickness of the location corresponding to the position of the central heater at the specified value by using the five heaters is designed. This is based on the idea that in order to effect thickness control along the total width of the film, this fundamental control system is applied to every thickness control point.
(b) The predictive control method is applied to design the fundamental control system design.
Finally, the evaluation of the proposals is conducted by the simulation calculation.抄録全体を表示PDF形式でダウンロード (1761K) -
松村 司郎, 塩谷 秀雄1995 年 31 巻 1 号 p. 66-75
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーA discrete time adaptive control system was applied to steam temperature control of a boiler for electric power generation. In the system, the adaptive controllers are installed in parallel with conventional PID controllers for superheated and reheated steam temperatures. The plant dynamics was described with polynomials whose parameters are adaptively estimated from the data of the plant under routine operation. Adaptive control signals are synthesized on the basis of the estimated parameters so as to achieve the specified control objective. The system was applied to a 375 MW plant and found to be effective for realizing better performance than the conventional PID control system.抄録全体を表示PDF形式でダウンロード (2807K) -
辻井 利昭, 村田 正秋, 小野 孝次, 石川 和敏1995 年 31 巻 1 号 p. 76-81
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーFlight experiments of the differential GPS (DGPS) navigation system were conducted by NAL (National Aerospace Laboratory). The purpose of the experiments was to evaluate the performance of the DGPS for the terminal area operations. The Dornier-228-200 (Do-228), an experimental research aircraft of NAL, was used for the experiments. A C/A-code, 1 channel GPS receiver (Rockwell/Collins Navcore-1) was installed onboard the Do-228. As a ground reference, the identical receiver was placed at a precisely surveyed location in the airport.
In a post-flight analysis, navigation solutions were estimated by a DGPS navigation filter developed at NAL. This filter consists of a ground reference differential correction filter (DCF) and an airborne navigation filter (ANF). Differential corrections to the pseudorange and deltarange observations were caluculated and filtered by the DCF. Mesurement data obtained by the airborne receiver were differnitially corrected and processed by ANF to yield the position and velocity of the aircraft. The aircraft was tracked by a laser tracker, with subsequent data being used to provide a reference profile of the airplane.
This paper discribes the DGPS navigation system, the algorithms of the DGPS navigation filter, and the results of the post-flight analysis. DGPS mean vertical error showed a factor of 6 improvement over that of GPS, while lateral error showed a factor of 3 improvement. Since GPS was under SA (Selective Availability) during the flight experiments, effectiveness of DGPS was demonstrated.抄録全体を表示PDF形式でダウンロード (1792K) -
則次 俊郎, 高岩 昌弘1995 年 31 巻 1 号 p. 82-88
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper describes the positioning control of slide table comprising pneumatic cylinder and PCM control valves. A pneumatic servo system has advantages of the ease in constructing the control equipment, anti-explosibility and so on, however air compressibility makes it so sensitive to the friction and parameter variations that it is not easy to achieve high accurate control performances.
A Control system using a disturbance observer is constructed. It can estimate the friction force and parameter variation as a disturbance and compensate them, so the improvement of positioning accuracy and robustness for the parameter variations can be expected. Further, Smith's method is introduced to improve the lowering of stability margin caused by the dead time existing in almost pneumatic systems.
In this control system, the control performance depends on filter Q. One method to design Q using a inverse vector trajectory is proposed. By this method Q can be rationally designed considering both the stability margin and the gain of sensitiveness simultaneously. As a application of this method, control parameters which reconcile the improvement of sensitiveness and the positioning response without overrun are chosen.
Through some experiments, the validity of proposed control method is confirmed.抄録全体を表示PDF形式でダウンロード (1399K) -
劉 雲輝, 音田 弘1995 年 31 巻 1 号 p. 89-97
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper introduces a concept of configuration patch (C-patch) for representing configurations of a polyhedral robot in a point-point contact with polyhedral obstacles, and proposes an approach called inverse mapping method for computing an approximate representation using cubic cells of a configuration space (C-space). A configuration patch has a simple geometry if it is represented in a local coordinate system defined in this paper. The inverse mapping method constructs the approximated C-space by quantizing the C-patches in the local coordinate system and mapping the discrete points to configurations of the robot. It never checks any intersection among the robot and the obstacles. The only process in this algorithm is a coordinate transformation from discrete points on the C-patches to configurations of the robot. Finally, its efficiency is shown by simulations.抄録全体を表示PDF形式でダウンロード (1944K) -
異常の伝搬遅れを利用する手法武田 和宏, 柴田 望洋, 柘植 義文, 松山 久義1995 年 31 巻 1 号 p. 98-107
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーA fault diagnosis method based on signed digraph (SDG method) is suitable for the fault diagnosis of a large-scaled chemical plant because of its diagnosis speed and its easiness in modeling the objective plant. The method, however, has not yet been put to practicable use since it may output multiple candidates for the origin of failure. In this paper, two methods (Delay method and Improved delay method) are proposed to output the candidates in order of the possibility of becoming true origin using the information on delays among the state variables in the objective plant. Furthermore, a quantitative estimation method of the information content using the idea of entropy of the diagnostic result has been developed. The usefulness of Improved delay method has been demonstrated by comparing the information contents of the diagnostic results obtained from SDG method, Delay method and Improved delay method in the experiments with the use of a mini-plant.抄録全体を表示PDF形式でダウンロード (3417K) -
鳩野 逸生, 橘 一成, 馬野 元秀, 田村 坦之1995 年 31 巻 1 号 p. 108-115
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a distributed scheduling system for Flexible Manufacturing, which has no global management processes. In the proposed system, each component such as machining cell and machining center has its own scheduling process, and each job carries its own information such as processing information and due date. Each scheduling process generates schedules using three kinds of informations: (1) the information maintained locally, (2) the information estimated from the local information in the other scheduling processes, and (3) the information carried by each job. We show the efficiency of our proposed scheduling system in computer simulations.抄録全体を表示PDF形式でダウンロード (2856K) -
西口 憲一, 三神 泉, 佐々木 亜紀, 市川 晃, 家 正則1995 年 31 巻 1 号 p. 116-125
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThe monolithic primary mirror of an 8m telescope, JNLT (Subaru), under construction will be made by fusion-bonding a number of hexagonal blank segments. These segments, made of zero expansion glass material, have very small coefficients of thermal expansion (CTE's) with averages in the range of -10 to +10ppb/°C; however, there are differences in CTE between individual segments, which result in the nonnegligible thermal deformation of the monolithic mirror. The deformation of the mirror can be evaluated from the measured CTE's of individual segments, once the arrangement of segments is specified. One can, therefore, pose a combinatorial optimization problem of finding the optimum solution for the arrangement of segments, that gives the minimum thermal deformation of the fused primary mirror.
In this paper, we show that this combinatorial optimization problem can be solved by a method using the simulated annealing approach. We demonstrate that the estimated deformation of the mirror can be reduced to a negligibly small level by applying the method to finding the optimum arrangement of segments in a fused mirror blank.抄録全体を表示PDF形式でダウンロード (2651K) -
師玉 康成, 葭谷 安正, 内堀 晃彦, 中村 八束, 山浦 弘夫1995 年 31 巻 1 号 p. 126-128
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThe compactness of a set of fuzzy-membership functions is proved, as compactness of a continuous functions set. This set includes the triangle-membership-functions, which are very often used for fuzzy control. Therefore, this compactness is useful for convergence analysis of the fuzzy-algorithms.抄録全体を表示PDF形式でダウンロード (372K) -
宮城 隼夫, 川平 公子, 山下 勝己1995 年 31 巻 1 号 p. 129-131
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThe robustness of product-type nonlinear feedback systems subjected to parameter variations is studied through both the positive realness of perturbed transfer functions and the direct method of Lyapunov. The feature of the proposed method is that the tolerable range of individual parameter deviations and the condition for the product-type nonlinearities are obtainable.抄録全体を表示PDF形式でダウンロード (335K) -
杉坂 政典, 河村 健児1995 年 31 巻 1 号 p. 132-134
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper presents brief results of experimental studies of a Pulsatile pump motor based on PI control laws. The pulsatile pump motor is driven by a five phases stepping motor. The pulse number for the motor is controlled by a stepping motor controller (PPMC-103A) so as to coincide the water pressure at the outlet of a tube of the pulsatile pump motor with the desired pressure.抄録全体を表示PDF形式でダウンロード (302K) -
森 泰親, 藤田 政之, 入道 真1995 年 31 巻 1 号 p. 135-137
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with a new method of designing the state feedback control law for linear dynamical systems represented by δ difference equations. A δ difference type selectable turn over design method is proposed. The effectiveness of this method is demonstrated by experimental tests.抄録全体を表示PDF形式でダウンロード (1011K) -
側抑制場によって生成される様々な位相構造伊能 教夫, 小林 弘樹1995 年 31 巻 1 号 p. 138-140
発行日: 1995/01/31
公開日: 2009/03/27
ジャーナル フリーThis paper describes an autonomous distributed system generating topological structures. It consists of same elements which mechanically connect each other. We examined the performance of the model adding an activation-inhibition field to the previous model which authours proposed.抄録全体を表示PDF形式でダウンロード (1532K)
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