巻号一覧
5 巻 (1969)
- 5 号 p. 401-
- 4 号 p. 295-
- 3 号 p. 201-
- 2 号 p. 103-
- 1 号 p. 1-
5 巻, 3 号
選択された号の論文の14件中1～14を表示しています
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田崎 栄一郎, 市川 惇信1969 年 5 巻 3 号 p. 201-208
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーA reciprocal or dual problem is defined and a reciprocity theorem is derived from the optimal control problem of nonlinear large scale dynamical systems. It is particularly emphasized that the problem is solved by the method of decomposition technique.
When the primal problem is defined as to minimize the specified objective function under the given constraints, the reciprocal or dual problem is defined as to maximize a function constructed from both the original objective function and the constraints, under the Euler and Clebsch equations as the constraints.
Two kinds of reciprocal problems are derived, depending upon convexity conditions of functions involved in the original problems.
The reciprocity theorem assures that the values of objective functions of the primal and the reciprocal problems constitute the upper and lower bounds respectively of the estimated range of the optimal value of the objective function of the primal problem when they are computed along a nominal admissible trajectry and, further, that they coincide with each other when they reach the optimum.
This property of the reciprocal problem seems to be very beneficial in solving the optimal control problem by mean of successive computation, since the values of the objective functions of the both problems give knowledges about the degree of convergence and the value of the further possible decrease of the objective function. This is good particularly when a feasible method of computation in the decentralized optimization is employed.抄録全体を表示PDF形式でダウンロード (1124K) -
村上 周太1969 年 5 巻 3 号 p. 209-214
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーThe optimum control of a stochastic process such as the traffic-flow system and the dam-system has not been so much studied and many questions have been left unsolved. For the operation of the dam systems, it is necessary to determine the optimum quantity (i.e. the largest quantity without lack) of service water obtainable from a river. However this is not easy because the input flows into a dam are stochastic values due to seasonal and random variations.
In this paper, one year is divided into four seasons and the optimum quantity of the service water in each season is determined by means of the statistical decision theory when the total input flow in the last season and the initial water level of the dam in this season are given. The same system also can be considered as a Markov process and the problem to determine the maximum quanity of the service water over a year under the condition that the probability of dearth water is less than 0.1 is solved by use of Dynamic Programming. The above two methods are compared and discussed.抄録全体を表示PDF形式でダウンロード (751K) -
田中 英夫, 平井 平八郎1969 年 5 巻 3 号 p. 215-220
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with a method of the adjustment of the controller parameters when the system parameters are varied by disturbances, assuming the control system has been optimally designed at the start.
It is shown that, based on the concept of sensitivity analysis, the optimum variations of the controller parameters can be obtained from the formula of linear combination as to the variations of the system parameters which are estimated by applying the concept of inverse sensitivity and the improved mathematical model of controlled system.
It is also clarified that this adaptive control system based on the method desrrived above shows a good response and does not require a large on-line computer, since the linear combination coefficients can be determined beforehand independently of the variations of system parameters.
Experimental results by computer simulation are included to demonstrate the practicality of the proposed adaptive control system.抄録全体を表示PDF形式でダウンロード (797K) -
1969 年 5 巻 3 号 p. 220
発行日: 1969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 (121K) -
関口 隆1969 年 5 巻 3 号 p. 221-228
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーThe measuring systems must be expressed by differential or difference equations and treated as dynamical systems, when the frequency ranges of the measuring systems cannot cover enough those of the measured values.
This paper shows first the necessary conditions and the necessary and sufficient conditions for the input observability of the linear time-discrete systems.
Comparing the conditions of controllability and obsrvability, the analogy between the time-continuous systems and the time-discrete systems are pointed out, concerning state controllability, state observability and output controllability. The principle of duality holds about the state values. It does not hold in general about the input and the output values. But the systems with one input or one output keep the principle of duality.
The time-discrete systems do not provide the sufficient informations with controllability and observability without the some numbers (n) of sampling and observation. But the time-continuous systems contain the same informations for only a little interval.
When we discretize the time-continuous systems, the controllability and observability of the time-continuous systems are the necessary conditions for those of the time-discrete systems. If we do not choose the proper sampling period when discretizing, we loose the controllability and observability. The rank of the linear coefficient matrix combining the time-continuous system with the time-discrete systems must be proper.
The condition which is very similar to the necessary and sufficient condition for the state observability is merely the necessary condition for the input observability.抄録全体を表示PDF形式でダウンロード (958K) -
得丸 英勝, 岩井 善太1969 年 5 巻 3 号 p. 229-236
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーIn the control of multivariable systems, the noninteracting control problem is a fundamental one. This problem has been investigated by many authors. However, a few papers have been preysented for the noninteracting control of nonlinear multivariable systems.
In the previous papar, the authors have shown that, for linear multivariable systems, it is possible to eliminate the mutual interaction of the multivariable system by using relays and simple linear compensators as its controllers. That is, under some restrictions, usual multivariable relay control systems act as a kind of noninteracting control systems. In this paper, it is shown that, for the nonlinear multivariable relay control system, the same effects occur. That is, under some restrictions on the system's parameters and initial states, the noninteracting control can be realized by using simple and physically realizable controllers even if the given plant is nonlinear.抄録全体を表示PDF形式でダウンロード (907K) -
市川 邦彦, 田村 捷利1969 年 5 巻 3 号 p. 237-242
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーIn this paper, a method of synthesizing an optimal control system is presented, which has an asymptotic stability region about the objective point and performs time optimal control out of the region. Only such an optimal system seems to serve as a realizable time optimal control system taking account for unavoidable noise.
First, it is shown that the problem treated in this paper is ascribable to the optimal problem with some different criterions according to the regions in the state space and then the solution_method for the class of the optimal problem is mentioned. Next, the condition required to the criterion function so that the asymptotic stability region may be secured about the origin as well as the theoretical condition for the shape of the boundary of the asymptotic stability region is clarified. It is also shown that the asymptotic stability region is analytically given for the linear system by adopting quadratic criterion function in the region.
In the example, the optimal control law of this problem for a simple second order system is obtained and the detail of this method is shown.抄録全体を表示PDF形式でダウンロード (761K) -
松本 幸生1969 年 5 巻 3 号 p. 243-249
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーA method of analyzing the dynamics of the pneumatic transmission line is presented in this. paper by using the polytropic exponent n (jω) which is the function of frequency ω of the pressure change.
The basic differential equations are given which describe the dynamic properties of the transmission line by taking into consideration the mass balance, the energy balance, the momentum balance, the state equation of fluid and the energy balance of wall.
These equations are linearized and Laplace transformed. The transfer function of the pneumatic transmission line is obtained by applying the boundary condition which is given by the same relations of fluid and wall at the lumped terminal volume.
Frequency response characteristics derived from this method are compared with the experimental results, and good agreements have been obtained.抄録全体を表示PDF形式でダウンロード (714K) -
市川 邦彦1969 年 5 巻 3 号 p. 250-254
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents a new method of finding the region of asymptotic stability around the equilibrium point of a nonlinear system. It employs the idea of an inverse problem, that is, the problem to decide the system equation which is asymptotically stable inside a prescribed curve. Although the Liapunov. function is not used explicitly in this method, the fundamental thoughts originate in the stability theory of Liapunov. The presented method is so straightforward as to dispense with any groping which is often inevitable for finding Liapunov function. The example to find the region of asymptotic stability of van der Pol's system is presented to illustrate clearly how to apply the method to a particular given problem. The example has revealed that the method brings about extremely good accuracy in the comparatively small expense of calculation.抄録全体を表示PDF形式でダウンロード (588K) -
野村 拓己, 中村 嘉平1969 年 5 巻 3 号 p. 255-264
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーThe process considered in this paper is governed by the following two evolutional equations in Hilbert Spaces.
x1=A1x1+B1u∈X1 (1)
(dynamics of controlled object)
x2=A2x2+B2u∈X2, u=Hx2 (2)
(dynamics of actuator)
This system is called a coupled system. Here the variable u is the control input and the variable x1 is the final output of coupled system.
Now, combining tho above two equations, the coupled system can be described by the following one evolutional equation in Hilbert Space X1×X2.d/dt(x1x2)=(A10B1HA2)(x1x2)+(0B2)u (3)
while, it is very difficult to decide whether the unbounded operator (A1 0 B1H A2) in eq. (3) is the infinitesimal generator of the strongly continuous semi-group. Furthermore, even though this operator would be an infinitesimal generator of the semi-group, it can be never expected to represent this semi-group analytically by A1, A2 and B1H. By these reasons there are many obstacles in applying the results obtained in Ref. (1) directly to the coupled system problems.
In this paper the existence, uniqueness and representation of the time-optimal control of the coupled system are re-examined by making use of the geometrical properties of reachable outputs. In particular, concerning with the representation and the uniqueness of the time-optimal control, it is necessary for the coupled system to be output controllable for the output space X1. The output controllability is examined and the sufficient conditions are derived.抄録全体を表示PDF形式でダウンロード (1204K) -
上野 敏行1969 年 5 巻 3 号 p. 265-272
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーA method is presented by which the modified moments of the impulse response are determined from the exponentially weighted time moments of the input and output of the system or from those of the correlation functions. Modified moments are equal to the coefficients of the Taylor series expansion of the system transfer function about s=α(α>0). Relations between the coefficients of the Laguerre series expansion of the impulse response and the modified moments are also described.
In this paper, the statistical method of measuring the modified moments is one of the important subjects of investigation, and the precision of the evaluated first moment is estimated statistically for a single lag system. To reduce the statistical variances of the moments, it is recommended to shift the mesured correlation function along the time delay axis.
If an appropriate mathematical model for the system is made, the parameters of the model can be determined from the moments. The moment method is extended also to the system in a closed control system.
When the input signal of the system is a white noise, it is shown that the modified moments can be computed continuously on an analog computer without passing through the intermediate step of the correlation functions. That is, the moments of the correlation functions can be determined without the help of a correlator, and this identification method will be applicable to the adaptive control systems.抄録全体を表示PDF形式でダウンロード (975K) -
小野 謙二, 木村 正行1969 年 5 巻 3 号 p. 273-278
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーThis paper is concerned with a system which observes periodically one of a number of possible states with R values. After each observation, one of a possible number of actions with A decisions is made.
First, the discussion of such Markov processes is made in section 3·1 and then the work of R.A. Howard is extended. Next, the system relations considered are assumed to depend on a random vector, which forms an m-order homogeneous Markov chain of unknown transition probabilities. Namely, let {Vt}, t=0, 1, 2, … be a sequence on events which is selected as a random vector, Vt=(Ut, Yt) in this paper, and suppose Pr(Yt+1=yj|V0, V1, …, Vt, Ut+1=uk)=Pr(Yt+1=yj|Vt-m+1, …, Vt, Ut+1=uk) where {Ut}, t=0, 1, 2, …is a sequence of control actions and {Yt}, t=0, 1, 2, …is a sequence of measuremets. An algorithm is formulated and used in the design of a controller without an identification of the transition probabilities. Finally, the case that the order of the Markov chain is unknown is discussed in section 4.抄録全体を表示PDF形式でダウンロード (748K) -
笹井 均1969 年 5 巻 3 号 p. 279-283
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーIn computing a numerical solution of a partial differential equation, an approximating method in which the differential operator is replaced by a difference operator is commonly used.
A similar approximating procedure is commonly used in calculating an optimal control in systems with distributed parameters.
In this paper, a codition of convergence of a sequence of approximating time-optimal controls of the linear distributed parameter system is given.抄録全体を表示PDF形式でダウンロード (551K) -
エルアラビ モハメッド1969 年 5 巻 3 号 p. 284-293
発行日: 1969/08/30
公開日: 2009/03/27
ジャーナル フリーMany papers on speed control systems have been published so far. To the author's knowledge, in these papers the efficiency of the prime mover is not taken into consideration. However, from economical view point, the efficiency of the prime mover could not be ignored when high power is consumed in the load.
This paper shows the results of researches on a special speed control system designed to control the load speed and to maximize the efficiency of the prime mover.
Concerning the efficiency of the prime mover, attention should be paid to the fact that for the required output power, it will reach its maximum at a certain speed. This fact could be adopted to maximize the efficiency of the prime mover, by controlling the reduction ratio of a reduction mechanism with stepless variable reduction ratio installed between the prime mover and the load.
Actually, this paper is a continued report of the paper published under the same title as this one in the Journal of this Society, Vol.8, No.3, 1969.
In the previous report, a hydraulic transmission was used as a reduction mechanism. But due to the existence of leakage losses the efficiency of the whole system decreased when high torque was transmitted to the load.
In this research, a hydro-mechanical transmission is adopted as a reduction mechanism instead of the hydraulic transmission.
It consists of mechanical components considered to have no losses and a hydraulic transmission used to allow changing the reduction ratio continuously in order to maximize the efficiency of the prime mover.
By adopting this reduction mechanism, it was possible to obtain high efficiency over the whole range of the operation of the system.抄録全体を表示PDF形式でダウンロード (1954K)
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