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Volume 38, Issue 10
Displaying 1-13 of 13 articles from this issue
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Yoshito SHIRAI, Yoshifumi KITAYAMA, Keishi KAWABATA, Takeshi TANAKA2002 Volume 38 Issue 10 Pages 815-820
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the paper, we discuss the technique that the small width about 10mm of the weak electrolyte surface level is measured with square pole electrode. And the electrical characteristics at a relative position between the liquid surface level and the electrode in weak electrolyte were analyzed from the resistance model. It was obtained from the simulation result that the pole electrode with a higher resistivity is useful. The liquid level meter was fabricated with several square pole Si electrodes with different resistivity. We have confirmed that the liquid surface level is able to measure with a accuracy of ±8%.View full abstractDownload PDF (2156K) -
Shogo TANAKA, Masayuki OKAMOTO2002 Volume 38 Issue 10 Pages 821-828
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThe authors previously developed a pipe length measurement system for straight pipes with closed ends using an acoustic sensor. The system realized a highly accurate on-line length measurement by making use of the stationary wave in the pipes as state variables of a linear dynamic system and also by using Kalman filters and maximum likelihood method.
There are however practically lots of applications where length measurement is required for the pipes with open ends. In order to measure the length of such a pipe, a compensation for the open ends must be taken into account. The problem is however that the compensation strongly depends on the environment around the open ends and what is worse the compensation coefficient is not a priori known.
The paper thus proposes a new measurement system which exactly measures the length of pipes with one or two open ends despite of the measurement environment around the open ends. Experiments will show that a highly accurate pipe length measurement is realized together with the open end compensations.View full abstractDownload PDF (1945K) -
Yoshiaki SUZUKI, Takashi SUZUKI, Keietsu ITAMIYA2002 Volume 38 Issue 10 Pages 829-838
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a robust scheme of discrete-time model reference adaptive control system (MRACS) and its stability analysis in the presence of unmodeled dynamics and measurement noise, by using the delta operator. In the scheme, the controller-parameters are adjusted by using a variable gain type of adaptive law (constant-trace algorithm) with dead-zone and the offset between the outputs of plant and reference model resulting from the use of the adaptive law with dead-zone is rejected by introducing an integral type of fixed compensator. Stability of the system is analyzed by employing the concept of l2Δ norm and the Bellman-Gronwall lemma. This method enables us to analyze the stability based on the l2-property of the parameter adjusting rate, which is guaranteed by the adaptve law. Usefulness of the scheme is demonstrated by the simulation studies carried out for a plant with second order nominal part.View full abstractDownload PDF (1987K) -
Yasushi IWATANI, Masato ISHIKAWA, Shinji HARA2002 Volume 38 Issue 10 Pages 839-846
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we propose a switching control strategy for so-called ‘first-order’ symmetric affine systems, whose controllability distribution are spanned by less than first order Lie brackets. The main idea here is to split the given system into some (chained) subsystems, and then apply a conventional control method for chained systems in sequence. As for the ‘conventional part’, we adopt the time-state control method. The proposed strategy guarantees that the finite state stays within an arbitrary given neighborhood of the origin. With an example of attitude control of a spatial satellite, we show that approximate use of this strategy is valid as well.View full abstractDownload PDF (1734K) -
Masahiro OYA, Toshihiro KOBAYASHI2002 Volume 38 Issue 10 Pages 847-854
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn the paper a new direct MIMO adaptive controller with reduced prior knowledge of the high frequency gain matrix is proposed. At first, it is shown that for any nonsingular high frequency gain matrices K with nonzero principal leading minors, there exist a positive definite matrix KP and a triangular matrix KT such that K=KpKT. Next, a new direct model reference adaptive controller is developed by analyzing the derivative of a positive definite function including the positive definite matrix KP. As for high frequency gain matrixes, only the signs of the principal leading minors are required in the developed controller. It is also proved that the output error becomes asymptotically stable even if there is not the persistency of excitation of the regressor vector.View full abstractDownload PDF (1417K) -
Takao HINAMOTO, Takuya INOUE2002 Volume 38 Issue 10 Pages 855-861
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSFor a continuous-time linear system, a measure for evaluating the L2-sensitivity of a closed-loop transfer function with respect to the coefficients of a state-estimate feedback controller is presented by using a pure L2 norm and taking into account 0, ±1 coefficients. A technique is then developed for synthesizing a state-estimate feedback controller in orthonornal ladder filter structure with several 0 coefficients. Finally, through a numerical example it is shown that the state-estimate feedback controller realized in orthonornal ladder filter structure has very low L2-sensitivity.View full abstractDownload PDF (1294K) -
Toshimi SHIMIZU, Minoru SASAKI2002 Volume 38 Issue 10 Pages 862-867
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper presents a proof of the passivity of a two-degree of freedom flexible link manipulator. The proof of the passivity of the multi-degree of freedom flexible link manipulator is not yet done while many researchers tried to solve this problem. The difficulty of this problem is due to the complexity of the equations of motion of flexible link manipulators. The flexible manipulator is modeled as not a truncated finite dimensional model or approximated linear model but an infinite dimensional and nonlinear model. In our proof of the passivity, it is similar to the analysis of the rigid link manipulators. Homogenous matrices are defined to describe the motion of the manipulator then an inertia matrix of the flexible manipulator is introduced. And then the equation of motion of the flexible link manipulator is described in simplicity vector form by using the inertia matrix. A useful property such as a matrix appears in the vector form equation is skew-symmetric is obtained. By using this property, the passivity of the two-degree of freedom flexible link manipulator can be proved easily.View full abstractDownload PDF (1248K) -
Kiyotsugu TAKABA2002 Volume 38 Issue 10 Pages 868-875
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSThis paper is concerned with the analysis and synthesis of an anti-windup (AW) control system based on the Youla parametrization. The Youla parametrization enables us to derive a new characterization of anti-windup controllers that directly utilizes a coprime factorization of the plant. It is proved by the circle criterion that the closed-loop L2 stability is guaranteed if the coprime factor of the plant satisfies a certain strict positive realness condition. On the basis of this stability condition, we develop a new method for the anti-windup control design in terms of linear matrix inequalities. We also study the relation between the present AW controller and an IMC-based AW controller. Furthermore, we extend the above results to the anti-windup control for two-degree-of-freedom control systems.View full abstractDownload PDF (1830K) -
Takao WATANABE2002 Volume 38 Issue 10 Pages 876-883
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, we clarify a new relationship between the finite invariant zeros of the generalized plant and the order reduction of the standard H∞ controller. A reducible order is characterized by using the geometric multiplicities of the invariant zeros in the open right half plane. Moreover we show a way to obtain the reduced-order H∞ controller by using the two-Riccati-equation approach. An experiment using a magnetic levitation system as well as numerical examples show that our result is useful.View full abstractDownload PDF (2336K) -
Hiroyuki MIYAMOTO, Hidenobu TSURUOKA, Hiromitsu OHMORI2002 Volume 38 Issue 10 Pages 884-891
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSRecently the design problem of servomechanism for nonlinear systems has been much discussed in control engineering. Our study presented here considers adaptive tracking and disturbance rejection for a class of nonlinear systems that can be transformed into a canonical form. Reference signal and disturbance are composed of the states generated from an autonomous stable linear time-invariant exosystem with unknown parameters. Since proposed compensator is based on nonlinear internal model principle and adopts plug-in control structure, in which the compensator to achieve tracking and disturbance rejection is placed outside the existed feedback controller, reconstruction of original feedback loop is not needed when tracking or disturbance rejection problem occur after the first feedback controller has already been designed. Moreover we show such compensator can be designed by solving the error feedback regulationn problem.View full abstractDownload PDF (1624K) -
Toshihiro AONO, Takehiko KOWATARI2002 Volume 38 Issue 10 Pages 892-898
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSA throttle-control algorithm that compensates for the delay in manifold filling is proposed. This algorithm takes into account the control characteristics of an electronic-throttle-control actuator and improves the engine output response. The performance of the-algorithm was evaluated in terms of the rising time of manifold pressure and the time needed for switching control. The results showed that the rising time and the time needed for switching control were less than 100ms.View full abstractDownload PDF (1769K) -
Koichi YOSHIDA2002 Volume 38 Issue 10 Pages 899-906
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSon the operation for discharge-type micro-tunneling robots, heading control performance of the driving machine to track a planned trajectory largely depends upon the skill of operators and efforts toward realization of autonomous navigation system for the tunneling robots have been successively made. In this paper, the dynamic behavior of the driving machine of the robot for a head angle operation is analyzed and two types of heading control models, having motion constraint exerted from the soil surrounding the robot on the machine head tip and the rear end respectively, are introduced. Then Kalman filter is applied to estimate the posture of the driving machine and the model parameters matching the soil condition, for which direct observation is almost impossible. In the simulation using the driving data from an actual construction site, on-line estimation performances of the models are evaluated to show that the heading control model with the motion constraint on the rear end gives relatively good estimation performance and is expected to be useful to the design of heading controller for the tunneling robot.View full abstractDownload PDF (2365K) -
Masanao OBAYASHI, Kousuke UMESAKO, Daisuke NAKAYAMA2002 Volume 38 Issue 10 Pages 907-914
Published: October 31, 2002
Released on J-STAGE: March 27, 2009
JOURNAL FREE ACCESSIn this paper, an efficient robust control method for chaotic system introducing the concept, the edge of chaos (:boundary status between chaos and non-chaos), is proposed. To realize this concept, we introduce an extended performance index which consists of two parts. One is for achievement of the system's objects, another is for keeping the system edge of chaos. Parameters of the neural network controller are adjusted to minimize the value of the extended performance index and achieve the above two objects using Random Search with Intensification and Diversification (RAS-ID). Through Lorenz chaotic system control simulation, it is clarified that our proposed method is superior to the conventional neuro control method in the view point of the generalization ability.View full abstractDownload PDF (2013K)
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