Transactions of the Society of Instrument and Control Engineers

Axle Weighing of In-motion Vehicles

Kengo FUKUDA, Hisaji TOTTORI, Koichi KAMEOKA, Toshiro ONO, Kouji YOSHI ...

2002 Volume 38 Issue 8 Pages 653-659
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.653

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Each axle weight of in-motion vehicles is measured with an axle weighing system, by processing the output signal from the load sensor. Since the output is contaminated with the noise due to the vibration of the vehicle and the data length is extremely short, the signal processing technique is the key to achieve an accurate measurement. In this paper, an equation for estimating axle weights is derived from a normal equation on the assumptions: 1) The output is stationary process described by a constant and the superposition of sin-functions when the vehicle tires are completely on the weighbridge. 2) The solution of a difference equation concerning the output corresponds to the constant and superposition mentioned above. The feasibility test results of the method using a cabover-engine dump truck under different experimental conditions are also described.

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Robust Control of Robot Manipulator under Parameter Perturbation and External Disturbance with Adaptive Gravitational Compensation

Yingjie YIN, Kazuya OGATA, Yoshikazu HAYAKAWA

2002 Volume 38 Issue 8 Pages 660-668
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.660

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We consider the tracking problem for robot manipulator with unknown and time-varying parameters and disturbances belong to L₂. Proposed state feedback adaptive robust controller consists of a nonlinear compensation based on nominal parameters, a linear and a nonlinear state feedback, and an adaptation algorithm for adjustment of the gravitational parameters. The effects of time-varying parameters and disturbances on the tracking performance can be attenuated within a prescribed level. And asymptotic tracking can be achieved for vanishing disturbances, constant parameters, and set point problem. By adding feedback input to penalty variable, high gain feedback can be strategy avoided.

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A Solution to Hamilton-Jacobi Equation and Optimal Feedback Control Law Using Neural Networks

Kiyotaka SHIMIZU, Keiichi NAKAYAMA, Shuhei MATSUMOTO

2002 Volume 38 Issue 8 Pages 669-676
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.669

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This paper is concerned with a state feedback controller using neural networks for nonlinear optimal regulator problem. Nonlinear optimal feedback control law can be synthesized by solving the Hamilton-Jacobi equation with three layered neural networks. The Hamilton-Jacobi equation generates the value function which is necessary for optimal controller synthesis. To obtain an approximate solution of the Hamilton-Jacobi equation, we solve an optimization problem which determines connection weights and thresholds in the neural networks. Gradient functions with respect to the connection weights and thresholds are calculated explicitly by the Lagrange multiplier method and used in the learning algorithm of the networks. We propose also a device by which an approximate solution to Hamilton-Jacobi equation converges to the true value function. The effectiveness of the proposed method was confirmed with simulations for various plants.

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A Multiobjective Gain Scheduling Using Descriptor Representation

An Approach from LMI Non-Common Solutions

Masakatsu KAWATA

2002 Volume 38 Issue 8 Pages 677-685
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.677

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Common LMI solutions are used in most multiobjective control designs, however, common LMI solutions cause conservatism. In order to reduce this conservatism, this paper presents a new multiobjective gain scheduled control design method based on non-common LMI solutions for a descriptor form LPV system. In the proposed method, the selection of descriptor variables is devised, and the feedback gain is constant in appearance. As a result, parameter-dependent LMIs are able to be transferred to the finite number of LMIs without conservatism. The proposed design method is applied to an inverted pendulum, and its validity is shown through experiments as compared with the usual design method based on common LMI solutions.

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PID Controller Adjustment via Quasi Pole Placement Method

Kiyotaka SHIMIZU, Kota HONJO, Takeshi YAMAGUCHI

2002 Volume 38 Issue 8 Pages 686-693
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.686

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In this paper, a new tuning method for PID control is proposed. We set the controlled system to be a controllable and observable SISO system. In the first half, we consider optimal servo problems by 2 methods. For each method, the optimal state feedback rule is obtained by the theory of optimal regulator, and the optimal poles of this closed-loop system are calculated. In the second half, we consider the problem that the poles of closed-loop system by PID control are approximated to the optimal poles as much as possible. This technique is called quasi pole placement. The problem becomes a nonlinear planning problem with some equality constraints, and solved by exterior penalty function method. Finally, the simulation results for the 5 order system are reported, and the effectiveness of this technique is demonstrated.

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Optimal Control of Large Space Structures by Simple Dynamic Displacement Feedback

Yohji KOBAYASHI, Masao IKEDA, Yasumasa FUJISAKI

2002 Volume 38 Issue 8 Pages 694-701
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.694

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This paper presents optimal dynamic displacement feedback for large space structures with sensors/actuators collocation. The simple dynamic displacement feedback controller, proposed by Fujisaki, Ikeda, and Miki, is transformed to a scheme whose input contains the control input for the space structure as well as the measured output as in the cases of observer-based and Kalman-filter-based controllers. This controller has parameters which determine the gains for the measured displacement and its pseudo-differentiation, and the bandwidth of the pseudo-differentiation. It is shown that the obtained closed-loop system becomes an optimal regulator for a quadratic cost function when the parameters in the controller are suitably tuned. This result is extended to the case of decentralized control for large space structures composed of a number of subsystems which are interconnected by springs and dampers.

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Variable Capacity Control of Compressor for Automotive Air-Conditioning System Using Reference Model Following Based Sliding Mode Control

Akira SHIMADA, Kenzo NONAMI, Isamu KAI, Yongwei SHI, Makoto IJIRI, Sei ...

2002 Volume 38 Issue 8 Pages 702-709
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.702

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This paper proposes a new technique on Variable Capacity Control(VCC) of compressor for Automotive Air-Conditioning System(AACS). It is based on Reference Model Following Based Sliding Mode Controller (RMFSMC) with disturbance observer. Today, VCC for AACS is widely attracted from the point of view of saving energy and keeping inside of a car comfortable. However, it is difficult to control AACS with VCC, since AACS has a complex and non-linear characteristic. To fix the problem, the mathematical model was derived from the system identification result and RMFSMC with disturbance observer has been designed. This paper describes some techniques to realize its development process, and the simulation and experimental results are shown.

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Optimal Simultaneous Design of Structure and Robust Controller for Car Steering Systems

Tohru KAWABE

2002 Volume 38 Issue 8 Pages 710-717
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.710

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This paper presents a new optimal simultaneous design method for car steering systems. The purpose is to design high-performance car steering systems that exhibit stability and maneuverability in high-speed situations including lane change or emergency avoidance on freeway. Using a new performance index based on both the input deviation and the capacity for handling stability, the design problem can be formulated as one kind of simultaneous optimization problem. To solve this problem, a GA (Genetic Algorithm) based technique is developed. The effectiveness of the proposed method is confirmed by simulation results.

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An Optimal Current-Control of Permanent Magnet Synchronous Motor by ILQ Design Method

Hiroshi TAKAMI

2002 Volume 38 Issue 8 Pages 718-725
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.718

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This paper presents an optimal current-control of permanent magnet synchronous motor which is composed of a simple current controller without subjoining the estimating or lagging compensator, by analytical procedure of the inverse LQ (ILQ) design method. The ILQ design method is the strategy to find the optimal gains on a basis of pole assignment without solving the Riccati's equation, and is improved by adding an analytical optimal condition, by which the relations between the optimal solutions and their optimality are clarified. The ILQ current-controller has no armature resistance in its control law, so that we can achieve the robust current-control even at a transient against large variation of armature resistance. Comparing with conventional PI currentcontroller, it is confirmed that the ILQ design method leads to excellent current-control which is robust for variation of all the motor's parameters including non-linear feedback loop to linearize the coupling d- and q- systems.

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Autonomous Foveating System Based on the Pulse-Coupled Neural Network with Sigmoidal Pulse Generator

Takashi WATANABE, Masaru TANAKA, Takio KURITA, Taketoshi MISHIMA

2002 Volume 38 Issue 8 Pages 726-732
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.726

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As one of human like foveation systems, we present the autonomous foveating system based on the Pulse-Coupled Neural Network(PCNN). The PCNN is expected to be useful for the image processing. This system spontaneously selects the foveation points from the edges and/or optical flows of the input images through the PCNN without any training. The foveation point is defined as the point with the maximum output from the PCNN. The output of the original PCNN neuron takes binary value, so the PCNN would select a lot of candidates for the foveation points. To avoid such confusing situation, we adopt the sigmoidal pulse generator. This decreases the candidates for the foveation points to a few or a single candidate. It is also given some experiments to show the effectiveness of the autonomous foveating system through the PCNN.

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Research on Vapor Pressure Compensation for Wet Gas Meter

Hayao KOBAYASHI, Kenzou MORITA, Masaki TAKAMOTO, Kin-ichi KOMIYA

2002 Volume 38 Issue 8 Pages 733-735
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.733

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This paper clarifies the mechanism of the evaluation of water vapor pressures in wet gas meters and shows expressions of compensation for water vapor pressures that we derived from our experimental approaches.

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Periodic Combustion Control of Stoker-type Incineratorst

Norihiro WATANABE

2002 Volume 38 Issue 8 Pages 736-738
Published: August 31, 2002
Released on J-STAGE: March 27, 2009

DOIhttps://doi.org/10.9746/sicetr1965.38.736

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Chaotic behaviors are observed in stoker-type incineration plants when the conventional control strategy is applied. In this paper, a new control strategy, which does not generate the chaotic behaviors, is proposed and its effectiveness is presented through some numerical simulations.

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