巻号一覧
42 巻, 9 号
選択された号の論文の11件中1～11を表示しています
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Koichi YOSHIDA2006 年 42 巻 9 号 p. 1001-1007
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a multirate H2 control synthesis is presented for the horizontal navigation system of a centerarticulated micro-tunneling robot, which has different sampling intervals for the horizontal positioning and head angle control of the robot. The projected line to be tunneled is approximated by a transfer function and combined with a dynamic model of the robot. Then, for the corresponding lifted system we design a discrete H2 optimal controller with a causality constraint in the form of state space representation aiming at its quick implementation to the on-site navigation system. The validity of the controller is verified in numerical simulations.抄録全体を表示PDF形式でダウンロード (2302K) -
Emdadul HOQUE, Takeshi MIZUNO, Masaya TAKASAKI, Yuji ISHINO2006 年 42 巻 9 号 p. 1008-1016
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーA vibration isolation system have been presented in this paper using an active and linearized zero-power control technique. Zero-compliance to direct disturbance of the system could be achieved by connecting a normal spring with a negative stiffness spring in series. Negative stiffness can be obtained by zero-power control magnetic suspension system. However, the basic zero-power control magnetic suspension system has inherently nonlinear characteristics, which leads to performance degradation in the field of practical applications. In this research, a nonlinear compensator for zero-power magnetic suspension is designed and applied to a vibration isolation system. The nonlinear characteristic of the zero-power control magnetic suspension system is illustrated analytically and the effectiveness of the derived linearized control scheme is demonstrated experimentally.抄録全体を表示PDF形式でダウンロード (3479K) -
Endusa MUHANDO, Hiroshi KINJO, Eiho UEZATO, Tomonobu SENJYU, Tetsuhiko ...2006 年 42 巻 9 号 p. 1017-1026
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーIn this paper we present real-time neurocontrol system for a nonlinear dynamic plant. In order to improve the training and control performance we present a combined system with a neurocontroller (NC) and a linear quadratic regulator (LQR). We apply the control scheme to the backward control of a multi-trailer system. The function of the LQR is to cater for the linear part of the system thereby alleviating the load on the NC. An emulator of the plant is used to design the desired trajectory. The actual plant is subsequently run on this path. In the event that the plant fails to trace the desired trajectory, the control system is re-designed from this point and a new trajectory formulated. We utilize the GA to update the NC weights, while the evaluation function of the NC incorporates both the squared errors and the running steps errors; the latter having the function of realizing faster training of the NC. We have significantly reduced the computation time by utilizing one pattern training for the NCs in real time. Simulations show that the proposed online method has good control performance for the trailer truck system.抄録全体を表示PDF形式でダウンロード (1819K) -
谷 正史, 鈴木 亮一, 山下 大輔, 小林 伸明2006 年 42 巻 9 号 p. 1027-1034
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a control method that overcomes for the drawbacks of Internal Model Control (IMC). The drawbacks of IMC are: (1) the control object should be stable, (2) the internal states of the control object is known, and (3) the controller's degree increases, though IMC dose have a disturbance decoupling property and a disturbance estimation property. Then, we propose a new Generalized IMC (GIMC) by using the limiting properties of LQ control with servo compensation. The proposed method is based on a two-degrees-of-freedom servo system using a reduced order observer based stabilizing controller. This control method combines these control schemes, has the same properties as IMC, and has improved the tracking performance through the multiplicative effect.抄録全体を表示PDF形式でダウンロード (2006K) -
島田 明, 畠山 直也2006 年 42 巻 9 号 p. 1035-1041
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーAn high-speed movement control technique of inverted pendulums making use of zero dynamics is introduced. Inverted pendulums are self-regulated systems to simulate games that children sway up umbrellas or sticks. And the controller design for various pendulums have been widely challenged since about 1970s. Recently, the machines for human riding using the principle were developed. And many biped walking robots have used the principle, too. Furthermore, many scientists make advances in nonlinear control technique. However, such invetred pendulums are basically controlled as they are not folded up. This paper presents an oposite idea against the manner. The pendulums break down the balance aggressively on purpose when they move. The idea is similar to the sprint by speed skaters. And when the pendulum stops, they redresse the balance again. In order to realize the idea, the controller related to the movement control mode is designed by using partial feedback linearization. Furthermore, when the controller makes the pendulum stop, it switchs the control law from the movement control mode to a stationary control mode which uses linear LQ servo control. Finally, experimental results are shown. As the result, the pendulum under the experiment can move 250mm by 0.5-1.0s successfuly.抄録全体を表示PDF形式でダウンロード (3460K) -
森中 翔一朗, 西 竜志, 小西 正躬2006 年 42 巻 9 号 p. 1042-1050
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a distributed routing method for multiple AGVs robots under uncertain motion delays. In real transportation environments, unexpected motion delays and demands may cause re-routings. The feature of the proposed method is that each AGV subsystem creates the routing to minimize the sum of the transportation time and the penalties for collisionn frequency distribution taking into account motion delay disturbances. The proposed method is applied to routing problem for a transportation system with 143 nodes and 20 AGVs in a semiconductor fabrication bay. The computational results show that the total transportation time obtained by the proposed method is shorter than that of the conventional method under various disturbances.抄録全体を表示PDF形式でダウンロード (4198K) -
金城 寛, 上里 英輔, 中園 邦彦, 山本 哲彦2006 年 42 巻 9 号 p. 1051-1057
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, we propose a design method of a two-wheel vehicle regulator using a neurocontroller (NC) op-timized by a genetic algorithm (GA). The two-wheel vehicle can be modeled as a driftless system and is known to be in the class of nonholonomic systems. Many control methods have been presented for nonholonomic systems. One method is the time-state control form that utilizes a chained form conversion. The chained forms are powerful and useful for designing the nonholonomic control system. However, in the case of a two-wheel vehicle, the time-state control form has some limitations in the controllable ranges due to the conversion. In this paper, we propose a design method of a state feedback controller for a two-wheel vehicle system using an NC without chained forms. The NC is trained by a genetic algorithm. In the controller design, the abilities of pattern recognition and generalization of the neural network are utilized. In this study, we prepared 45 sets of initial positions and angles for controller training. In the GA process, NCs are evaluated on the basis of control performance in which the squared errors that result from the control simulations starting from all the initial states are calculated. Based on the control performance, NCs are evolved through the GA processes. Results of simulations show that the NCs trained using a GA exhibit good control performance of the two-wheel vehicle system. One of the control strategies of the NC resembles that of time-state control form. The proposed method has no limitations in the controllable ranges in the initial states.抄録全体を表示PDF形式でダウンロード (1835K) -
田中 俊二, 荒木 光彦2006 年 42 巻 9 号 p. 1058-1066
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーIn this paper we propose an exact algorithm for the input/output scheduling problem in an end-of-aisle multi-shuttle automated storage/retrieval system (AS/RS) with dedicated storage. This problem is to determine an optimal travel route of a multi-shuttle stacker crane to meet a given set of storage and retrieval orders, and it can be formulated as a class of capacitated vehicle routing problems. In our algorithm, column and cut generation is applied to a linear relaxation problem of the original problem to obtain a good lower bound. In the course of the lower bound calculation, we apply a greedy heuristics and a local search to a solution of the relaxed problem in order to obtain a good upper bound (a heuristic solution). If there is a gap between the lower and upper bounds, we try to obtain an exact solution by solving a binary programming problem with a restricted number of columns. We examine the effectiveness of our algorithm by numerical experiments.抄録全体を表示PDF形式でダウンロード (2916K) -
齋藤 光生, 鈴木 達也, 稲垣 伸吉, 青木 猛2006 年 42 巻 9 号 p. 1067-1075
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a new fault diagnosis technology for event-driven controlled systems like PLC. The controlled plant is modeled by means of the Timed Markov Model, which regards the time interval between successive two events as a random variable. In order to estimate the probability density functions of the randomized time intervals, the maximum entropy principle is introduced, which can estimate probability density functions so as to maximize the uniformity with satisfying the constraints caused by measured data. Then, the fault diagnosis algorithm, which returns the probabilistic diagnosis results, is developed. Finally, the usefulness of the proposed strategy is verified through some experimental results.抄録全体を表示PDF形式でダウンロード (2751K) -
若佐 裕治, 岩岡 浩一郎, 花岡 健一郎, 田中 幹也2006 年 42 巻 9 号 p. 1076-1082
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーThis paper first proposes a model of traffic signal control systems for avoiding traffic congestion in urban road networks. The model is constructed so that it is controllable, and disturbances of traffic flows can be taken into account. As a result, the proposed model is described as a linear system. Next, a robust control method is applied to the proposed model so as to achieve stability and performance. The proposed control method gives a control law for real-time and network-wide traffic signal systems. A simulation example is given to show the effectiveness of the proposed method.抄録全体を表示PDF形式でダウンロード (1478K) -
羽田 昌敏, 山田 大介, 三浦 弘樹, 辻 敏夫2006 年 42 巻 9 号 p. 1083-1091
発行日: 2006/09/30
公開日: 2009/03/27
ジャーナル フリーIn the present paper, we propose a prototype system for analyzing equivalent impedance characteristics of human-machine systems (HMS) taking contact and constraint conditions into account. The system consists of three modules: an HMS modeler, an HMS analyzer, and an HMS visualizer. In the HMS modeler, the equation of motion of the HMS is constructed from the musculoskeletal human model and the multibody object model. In the HMS analyzer, inverse dynamics and muscle tension distribution are solved using motion and force data. Muscle stiffness and viscosity are then computed from a Hill-type muscle tendon complex model. The equivalent impedance is transformed from the muscle space to any point of the object. The result is visualized 3-dimensionally in the HMS visualizer to enhance usefulness of the prototype. Measuring motion and force in a task of regulating the steering wheel with a knob at a constant velocity, equivalent inertia and stiffness at the end effector and around a steering column are calculated. The results show an effectiveness of the equivalent impedance analysis to investigate driver's strategy in a steering maneuver.抄録全体を表示PDF形式でダウンロード (3895K)
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