計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
47 巻, 6 号
選択された号の論文の5件中1~5を表示しています
論文
制御
  • 田中 秀幸, 太田 快人, 沖村 祐亮
    2011 年 47 巻 6 号 p. 253-261
    発行日: 2011年
    公開日: 2011/12/19
    ジャーナル フリー
    This paper studies linear-time-invariant (LTI) modeling of a twin-rotor MIMO system based on the dynamical models derived from the first principles and identification experiments, motivated by building LPV (Linear Parameter Varying) models. The present method proposes using the states of the first-principle-model and the identification-model. Continuous-time local LTI models with a consistent state are obtained in the frequency domain. It is also shown that an LPV model is computed from the local models.
  • 近藤 弘幸, 越智 徳昌
    2011 年 47 巻 6 号 p. 262-271
    発行日: 2011年
    公開日: 2011/12/19
    ジャーナル フリー
    This paper proposes an I-PD (integral preceded by proportional-derivative) controller design with a more rational method of plant-order reduction to the second order than the method previously proposed by the authors, where parameter-space search was employed. In the new method, first, the fractional balanced reduction is applied to the original single-input-single-output plant. Then, the reduced-order model is adjusted via the homotopy method in terms of the ν-gap metric. The method can also be applied to a plant that is not stable but stabilizable by state feedback in the same way. The resultant PID controller designed based on the optimal servomechanism using the second-order plant model provides preferable properties as a linear quadratic regulator (LQR), if the ν-gap can be made sufficiently small. Moreover, it can be extended to a model-following type by adding a reference model and a feedforward compensator to improve the output responses without decreasing the stability margins. The effectiveness and usefulness of the proposed method are demonstrated through design examples including an application to flight control and numerical simulations.
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  • 佐野 佑子, 神鳥 明彦, 島 圭介, 田村 康裕, 高木 寛, 辻 敏夫, 野田 正文, 東川 史子, 横江 勝, 佐古田 三郎
    2011 年 47 巻 6 号 p. 272-281
    発行日: 2011年
    公開日: 2011/12/19
    ジャーナル フリー
    We tested the repeatability of a finger tapping device with magnetic sensors to determine its reliability. This device, which was developed to assist in the diagnosis of movement disorders such as Parkinson's disease (PD) and strokes, measures the distance between the first and index fingers during finger tapping movements (opening and closing the fingers repeatedly). We evaluated three types of repeatability based on ICC (interclass correlation coefficient) and Welch's test (test for equal means in a oneway layout): repeatability when measured at different times, when using different devices, and when using different measurers. We calculated these three types for three finger tapping tasks on both hands for 21 characteristics calculated from finger tapping waveforms. Results demonstrated that the repeatability when using different devices is high regardless of the task or hand. The repeatability when measuring at different times and when using different measurers is high at some tasks, but not all. One of the finger tapping tasks (finger tapping movement with the largest amplitude and highest velocity), which is used in a conventional PD diagnosis method (UPDRS), does not have enough repeatability, while other tasks show high repeatability. Results also showed that five characteristics have the highest repeatability (ICC ≥ 0.5 or significance probability of Welch's test ≥ 5% in all tasks): “total moving distance,” “average of local minimum acceleration in opening motion,” “average of local minimum acceleration in closing motion,” “average of local maximum distance” and “average of local minimum velocity”. These results clearly demonstrate the strong repeatability of this device and lead to more precise diagnosis of movement disorders.
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