巻号一覧
35 巻, 7 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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小菅 義夫, 岡田 隆光1999 年 35 巻 7 号 p. 823-831
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーAn important problem in a multiple radar multiple target tracking system (i.e., multiple radar fusion) is to reduce radar biases in order to determine whether the observations detected by several different radars represent the same aircraft or different aircraft. The purpose of this paper is to treat the problem of estimating three dimensional (i.e., range, elevation and azimuth) radar biases in a two-radar system using several aircraft that are detected by two radars simultaneously. A batch method using a linear least squares approach was considered for aligning two dimensional radars (i.e., range and azimuth). This method requires a large number of aircraft (100 or more). We present a recursive method using a linear least squares approach that can be considered as a six-order Kalman filter. The elements of state vector are the radar bias components in two radars. We also present that a condition for unique solution and an index of accurate radar bias estimation. This index is that the minimum singular value of an observation matrix H. Our computer simulation results show that the radar bias solutions are sensitive to radar and aircraft geometries. But our computer simulation results show the effectiveness of the proposed method, because we can select aircraft geometries using the minimum singular value analysis in order to obtain a good estimation. Our simulation results also show that our new approach can achieve satisfactory estimation accuracy with 2 aircraft aligning the three dimensional radars.抄録全体を表示PDF形式でダウンロード (1889K) -
井内 徹, 星野 智宏, 古川 徹, 田添 晃1999 年 35 巻 7 号 p. 832-839
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーWe studied the polarization characteristics on emissivity of metal during oxidation process theoretically and experimentally. In this process, the emissivity widely changes with increasing oxidation due to the interference effect of radiation between the metal surface and the oxidation film. As a result, we found that p-polarized and s-polarized emissivities, εp, and εs, of real metal surface behave with different manner and its ratio, Rps, depends strongly on the thickness of the oxidation film. On this basis, we offered the emissivity-compensated radiation thermometry. In this paper, we discussed applicable fields and limitations of the method, and some items to solve for the further development on this study.抄録全体を表示PDF形式でダウンロード (3334K) -
佐藤 浩志, 大原 昌幸, 渡辺 嘉二郎, 佐藤 秀昭1999 年 35 巻 7 号 p. 840-845
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes how the vortex whistle can be used as a spirometer and what is the feature.
The vortex whistle with simple structure composed of only three elements has the function of whistle as well as that of a flowmeter. Once the dimensions of the elements are determined, the volumetric flow rate is uniquely obtained from the sound frequency via a linear function.
Thus the spirometer based on the vortex whistle shows interesting characteristics. These are: (1) it has the simple structure, (2) it requires no calibration once the structure is determined and (3) it provide the accurate quantitative flow rate as well as the sound from which the qualitative information can be acquired by the human auditory function.
Here we experimentally investigated what are the suitable sizes of whistle elemets to be used as a spirometer and showed the characteristics. The vortex whistle type spirometer shows satisfactory functions.抄録全体を表示PDF形式でダウンロード (1494K) -
芳谷 直治1999 年 35 巻 7 号 p. 846-851
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーIn generalized minimum variance control (GMVC) and in the pole-placement control derived from GMVC, offset removal techniques against unknown disturbances are classified into two methods: (I) disturbance compensation method, and (II) integration method. Method (I) first estimates the disturbance and then compensates it with its estimate, while method (II) puts an integrator into the forward path of the control loop, where the integrator naturally removes offset. Most of the previous studies recommend method (II) rather than method (I), and method (II) is regarded almost as the standard method for offset removal. In this paper, we propose a new technique of method (I) using the disturbance observer and compares it with method (II) through mathematical analysis and numerical simulations. It is clarified that the method (I) with the proposed technique removes offset caused not only by various unknown disturbances but also by model errors. A numerical simulation with GMVC illustrates that the proposed technique is better than method (II) in output response and in robustness to model errors.抄録全体を表示PDF形式でダウンロード (1572K) -
〓 明〓, 岩井 善太, 水本 郁朗1999 年 35 巻 7 号 p. 852-860
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーSimple adaptive control (SAC) scheme has its main advantage that a relatively few parameters are estimated on-line to guarantee stability through implicit adaptation. The stability is usually guaranteed by adding a parallel feedforward compensator (PFC) to SAC system so as to realize the almost strictly positive realness (ASPRness) of the plant. This paper is concerned with an evaluation problem of ASPRness for the simple adaptive control scheme. The effect of model-plant mismatch and structured uncertainty on ASPRness is investigated. Further, PFC design scheme based on the derived evaluation method is also derived. The results allow us to evaluate the ASPRness and also give the role of different tuning parameters in the design of PFCs for delay processes with structured uncertainty. The effectiveness of the proposed method is examined through numerical simulation and the good control performance is obtained in spite of large process parameters uncertainty.抄録全体を表示PDF形式でダウンロード (1419K) -
渡辺 亮, 内田 健康, 藤田 政之1999 年 35 巻 7 号 p. 861-868
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーThe actual control systems possess some kind of restrictions on the control inputs like saturation, rate limit, and so on. It is known that these restrictions usually cause the large overshoot of the controlled variables for step reference signals. This overshoot phenomenon is called the windup phenomenon. Though the windup phenomenon crucially causes the undesirable performance of the actual control systems, formulation of the windup phenomenon from a control-theoretical point of view has not been proposed yet.
In this paper, we characterize the windup phenomenon via output reachable sets and propose analysis technique for the windup based on reachable set analysis. Then we propose a new framework for anti-windup technique and characterize its anti-windup performance via output reachable sets. We also propose analysis technique for anti-windup performance based on reachable set analysis.抄録全体を表示PDF形式でダウンロード (1658K) -
Takanori FUKAO, Hisashi KASHIMA, Norihiko ADACHI1999 年 35 巻 7 号 p. 869-878
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーA method of designing a totally decentralized adaptive controller based on the robust adaptive scheme using backstepping method and switching σ-modification method is presented. The transient performance of the constructed decentralized adaptive control system is improved. In the zero-state performance, L∞ bounds of the tracking errors can be rendered arbitrarily small by design parameters.抄録全体を表示PDF形式でダウンロード (1564K) -
浜本 研一, 杉江 俊治1999 年 35 巻 7 号 p. 879-885
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a tuning method of feedback controllers for the optimization of quadratic cost functions via Iterative Feedback Tuning (IFT), where we do not need any model of the plant to be controlled. First, we propose an IFT method in a generalized setting, where the systems are represented by Linear Fractional Transformation (LFT). Several merits of this problem setting are pointed out. Next, comparing the optimization in IFT with the iteration based numerical computation method of the Riccati equation, we clarify some characteristics of the IFT method. In addition, we point out that if a certain condition is satified, the optimization problem in IFT becomes convex and we show how to obtain a new design parameters by I/O data only. Finally, some numerical examples of the IFT method are given to demonstrate the usefulness of the proposed method.抄録全体を表示PDF形式でダウンロード (1854K) -
Hiroyuki KANO, Toshimitsu NISHIMURA1999 年 35 巻 7 号 p. 886-895
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーWe study discrete algebraic matrix Riccati equations arising in robust control and filtering problems based on its associated symplectic matrix and Popov function. Necessary and sufficient conditions are established for the existence of a stabilizing solution, which in contrast to standard equations arising in LQG problems is not necessarily nonnegative-definite. Then the existence conditions are shown for nonnegative-definite, and positive-definite stabilizing solutions both as necessary and sufficient conditions. Next, parallel results are established for the existence of the so-called anti-stabilizing solution, and a relation between stabilizing and anti-stabilizing solutions of original and dual Riccati equations is shown. It is also proved that stabilizing and anti-stabilizing solutions if they exist are the minimal and maximal solutions respectively.抄録全体を表示PDF形式でダウンロード (1824K) -
Young SOO SUH, Seiichi SHIN1999 年 35 巻 7 号 p. 896-903
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with balanced truncation of a state delay system into a state delay system of smaller size in the dimension of state. A modified balanced realization of a state delay system is proposed based on the upper bounds of controllability and observability gramians. The upper bounds can be efficiently computed using linear matrix inequalities. The properties of balanced truncation is investigated: the stability of the truncated system and the truncation error bound are given. A numerical example is provided to illustrate the proposed model reduction.抄録全体を表示PDF形式でダウンロード (1642K) -
伊藤 和寿, 申 鉄龍, 田村 捷利1999 年 35 巻 7 号 p. 904-911
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents design of a robust stabilizing feedback controller for a class of nonlinear systems via Lyapunov-based recursive method. The system is assumed to have a gain bounded unknown nonlinear perturbated function with semi-strict feedback structure. It is shown that if a nonlinear system with relative degree r(r=1, …, n) has minimum phase property for all uncertain perturbations, then the state of nonlinear system compensated by the proposed controller can be guaranteed to converge globally to the origin asymptotically. Introduction of a linear observer to the proposed controller is also considered.抄録全体を表示PDF形式でダウンロード (1282K) -
吉田 和信, 川辺 尚志, 西村 行雄1999 年 35 巻 7 号 p. 912-918
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーLet S be a convex polyhedral set in the state space of a linear continuous-time system. The positive invariance (PI) condition of S is studied in terms of the dual set of S. The PI condition in the dual space is obtained, which yields a set of standard LP-type equations. Moreover, a method for simplifying these equations is presented. It is pointed out that the conventional algebraic PI condition has redundancies in the LP-type formulas. It is also shown that linear state constraints can be expressed by standard LP-type equations using the dual set of S.
These results are then applied to a linear constrained regulator problem and a fast algorithm for solving the problem is obtained, where the problem is formulated by a relatively small-sized LP without computing the extreme points of S.
Numerical experiments for a 2nd-order system are performed for examining the efficacy of the proposed algorithm.抄録全体を表示PDF形式でダウンロード (1234K) -
耐故障性と最適性小林 洋二, 池田 雅夫, 藤崎 泰正, 松田 雅義, 木田 隆1999 年 35 巻 7 号 p. 919-925
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーDecentralized control is considered for large space structures composed of a number of subsystems which are connected by springs and dampers. It is assumed that sensors and actuators are collocated. It has been known that the overall system is stable under any perturbations in mass, damping and stiffness if the control law for each subsystem is direct velocity and displacement feedback (DVDFB). In this paper, a condition on interconnections between subsystems is presented under which stability of the overall system is preserved even in case some local controllers fail. Furthermore, it is shown that with appropriately chosen gains, the decentralized DVDFB is optimal for a quadratic cost function.抄録全体を表示PDF形式でダウンロード (1708K) -
岡村 義英, 高橋 昌也, 星野 郁弥1999 年 35 巻 7 号 p. 926-933
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a new velocity control system with two degrees of freedom based on mathematical models for extrusion press has been presented. The feedforward controller is designed based on model matching method. In a small variety production line, the PI control system with two degrees of freedom has been developed. The PI parameters of the obtained controller are derived analytically from parameters of plant models. In a large variety small quantity production line, the H∞ control system with two degrees of freedom has been developed to cope with model errors. The effectiveness of the new system has been shown by application in an actual plant.抄録全体を表示PDF形式でダウンロード (2313K) -
赤坂 則之, 山本 真生1999 年 35 巻 7 号 p. 934-942
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーHigh-accuracy track keeping and fixed position keeping have come to be demanded with ships having special duties such as cable laying ships, ocean research ships and bridge construction ships for improving the acccuracy and efficiency of works on ships. Under these circumstances, auxiliary maneuvering measures such as bow thruster and stern thruster have come to be attached to improve ships' safety and reduce crew's labor.
This paper presents a design method of track-keepig control system used by the optimal regulator theory. Its practicality has been verified by field tests in a cable laying ship.抄録全体を表示PDF形式でダウンロード (1536K) -
伊藤 誠, 稲垣 敏之, Neville MORAY1999 年 35 巻 7 号 p. 943-950
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーThis paper discusses trust in situation-adaptive autonomy (SAA), where the automation may change its level dynamically and it can have the authority of decision making under time critical situation. Although SAA is necessary and effective for attaining systems safety, it is not obvious whether or not humans accept SAA. We analyze subjective rating of trust which subjects have in the efficacy of the automation, and show the results of four kinds of analyses on trust. First, an ANOVA indicates that trust is high (low) when the reliability of the automation is high (low). Second, a first order lag model of trust clarifies the following two points: (1) Trust decreases when the automation behaves erroneously, (2) Trust declines when a human disagrees with the automation even when the automation is correct. Third, an analysis of relationship between changes of trust and the reliability of automation shows the following results: (a) Trust has a tendency to stay the same if the automation is completely reliable, (b) Subjects tend to change the level of trust if the automation is reliable but imperfect. Finally, we analyze trust under the situation where the automation performs safety control actions without allowing human intervention. The results have been obtained: (i) Trust does not decline if the reliability of the automation is 100%, (ii) Subjects tend to decrease their ratings of trust when the automation is highly but not entirely reliable. The above results suggest that situation awareness of a human operator is an important factor to make SAA acceptable to the operator.抄録全体を表示PDF形式でダウンロード (2324K) -
清水 良明1999 年 35 巻 7 号 p. 951-956
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーWith a point of view that complete mathematical models is seldom available in practical optimization, we aim at developing a method that can generate an appropriate number of candidate solutions than a unique rigid one. Especially, in this paper, we focussed on multi-objective mixed-integer programs which involve qualitative expression regarding both objective functions and system constraints. To cope with such an ill-posed problem, we have extended the hybrid genetic algorithm with value function modeled by neural networks (HybGA/MOR). The idea is realized by separating the qualitative factors from quantitative ones in the hierarchical framework. In addition, we incorporate into the algorithm of HybGA/MOR a niche method to derive several solutions running as candidates for final selection, and a penalty function approach to handle with the qualitative constraints. Effectiveness of the method has been verified through numerical experiments taking an example in site location of hazardous wastes disposal.抄録全体を表示PDF形式でダウンロード (1702K) -
天野 直紀, 橋本 洋志, 東口 實1999 年 35 巻 7 号 p. 957-963
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a method to detect moving obstacles from image data these are given from two cameras on the vehicle. Although the vehicle is moving, when it is possible to regard the position of the camera as being at a standstill, the variation of image data from the camera that is mounted on the vehicle is caused by target motion. Therefore this paper shows a system that is keeping a suspected stationary state of the position of the camera by means of two cameras and a moving structure, and detects moving obstacles.抄録全体を表示PDF形式でダウンロード (3108K) -
加瀬 渡, 寺西 信1999 年 35 巻 7 号 p. 964-966
発行日: 1999/07/30
公開日: 2009/03/27
ジャーナル フリーRecently, a calculation method of invariant zeros as the eigenvalue problem is shown. Unfortunately, the method does not give all invariant zeros for some cases. In this note, it is shown that all invariant zeros are obtained by modifying the above method. For this, an interactor matrix will be used.抄録全体を表示PDF形式でダウンロード (317K) -
1999 年 35 巻 7 号 p. e1
発行日: 1999年
公開日: 2009/03/27
ジャーナル フリーPDF形式でダウンロード (37K)
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