計測自動制御学会論文集
Online ISSN : 1883-8189
Print ISSN : 0453-4654
ISSN-L : 0453-4654
5 巻, 5 号
選択された号の論文の14件中1~14を表示しています
  • 舟橋 康行, 中村 嘉平
    1969 年 5 巻 5 号 p. 401-408
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    With the aid of functional analysis, the optimal pursuit problem and the optimal final value control problem in Banach spaces are considered. Many papers treat these problems in the Hilbert space setting and derive an adjoint equation and reduce to the solution of the two point boundary value problem. The authors pose the problems in the Banach spaces such as Lp, 1≤p≤+∞. In L1 and L spaces the norm is not Fréchet differentiable, not even Gateaux differentiable and admits one-sided Gateaux derivative only.
    A necessary and sufficient condition for an optimal control is derived using one-sided Gateaux derivative. The equations of the optimal condition in L1, Lp (1<p<+∞) and L spaces are obtained in the explicit form. And finally several examples are illustrated in the Hilbert space setting in order to make this theory understand with ease. The method is straightforward and thus the optimal control can be computed directly.
  • 山浦 弘夫, 二井 透, 太田 豊生
    1969 年 5 巻 5 号 p. 409-414
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    In realizing optimum control using Pontryagin's maximum principle, it happens very often that the actual value of the performance index is not so good as expected, owing to the existence of control error. In this respect, the highest accuracy attainable is desired in designing control devices. On the contrary, the increase in weight or cost of a control system is usually undesirable. In these cases, it is necessary to know previously about the quantitative influence of the control function error on the value of performance index.
    In order to demonstrate the practical way to estimate the necessitated accuracy, a quantitative method of evaluating the change of performance index due to the difference between the ideal optimum trajectory and the deviated ones is shown, adopting the maximization problem of the arrival distance of a moving vehicle with certain fuel-effectiveness characteristics as a typical example. The optimum solution is found to be composed of usual Bang-Bang control and singular solution control, the former being switched to the latter at an appropriate time. First the performance index values integrated along deviated trajectories parallel to the singular one are calculated. Then the same index values are examined changing the maximum value of the control function of the Bang-Bang control zone variously to give different deviated trajectories.
    Consequently it is found for this example that the higher degree of accuracy is demanded in the singular control zone.
    Also values of performance index for the same system using only the Bang-Bang control are discussed with the maximun value of the control function variously reduced.
  • 保田 豊, 前田 浩一
    1969 年 5 巻 5 号 p. 415-423
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper is concerned with the problem of finding a reduced form of a linear discrete system with noisy observations, where the reduced form of the system is a system with minimum dimensional state space which is equivalent to the given system.
    For systems initially in their zero states, two systems are defined to be equivalent in the sense that the responses of these systems to the same input sequence have the same mean and the same variance, and a reduction algorithm for determining a reduced form of a given system is presented.
    For systems initially in their arbitrary states, several other concepts of equivalence of the systems are introduced, and a reduction algorithm for determining a reduced form of a given system under each equivalent definition is presented.
    The relations between these equivalent concepts and the properties of these reduced forms are examined.
    Reduction algorithms presented in this paper do not require additional restrictions on system parameters and are readily programmable for computer execution.
  • 毛利 彰, 永井 智幸, 高田 勝
    1969 年 5 巻 5 号 p. 424-431
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    A minimum-time control problem of a linear system is reduced to a problem of L.P. (Linear Programming), when it is considered in the sampled-mode control. In this case, if we take the sampling-interval small, then a solution, which is given by this sampled-mode system, will be available as the first approximation of a solution of the continuous system. Therefore, by reducing the sampled-mode control to Bang-Bang type control and evaluating the variation of the terminal time point by variations of switching-times, this continuous-type problem can be solved by L.P. too. Then an accuracy which is given by this method is within the error of the order of 10-4 in term of a norm of χ, ||χ||. This accuracy is acceptable, compared with Yamaguchi's, Plants's and others.
    In one word, this report describes a method which solves a minimum-time control problem of a linear system by L.P., which is a usual and simple procedure.
  • 添田 喬, 芳村 敏夫
    1969 年 5 巻 5 号 p. 432-437
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    This paper is concerned with the problem of estimating the state variables of a discrete-time nonlinear system. For the linear systems with additive white gaussian noises, the procedure for obtaining minimum variance estimates of state variables has been well known as the Kalman filter. The results for the linear systems are frequently applied with considerable success to nonlinear systems by introducing the linearization technique. Applying this approach, the estimation problem is seen to become a problem of approximating the a posteriori probability density function for the state variables conditioned upon noisy observations to be gaussian.
    In this paper, it is assumed that the posterior probability density function is appeared in the Taylor series expansion and the estimates which maximize it are determined by the Newton-Raphson method numerically. Digital simulation results indicate that the inclusion of higher order terms of the Taylor series expansion can improve the accuracy of estimates comparing with the linearization technique.
  • 西村 正太郎, 北村 新三
    1969 年 5 巻 5 号 p. 438-443
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    Stability of distributed parameter systems is analyzed by using a Lyapunov function of the quadratic form of the state variables. The system considered is described by the second order partial differential equation with constant coefficients and multiple nonlinear functions.
    A sufficient condition for the asymptotic stability of the steady states is represented in terms of the conditions related to given boundary conditions, and of the positive definite condition of a certain matrix in the frequency domain. The latter condition may be considered as an extension of the circle criterion for lumped parameter systems to distributed parameter systems.
    As an example, a problem in chemical reactions with mass and heat diffusion is treated. It is shown that the stability of such a system can be determined mainly by the steady state values and the characteristics of nonlinear functions. Two numerical analyses are also given.
  • 横井 錬三
    1969 年 5 巻 5 号 p. 444-451
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    The corrugated metallic diaphragm capsule is used as low pressure sensing elements in precision pressure gauges, pressure transducers, pressure switches, and various aircraft instruments.
    The author's analysis is made to apply the pure bending theory of anisotropic circular plate to a linear deflection type diaphragm. For the linear deflection diaphragm with uniform load applied and for that with concentrated load applied at the center, respective useful equations in design are obtained. And various factors in equations are also obtained from the geometrical dimensions and physical properties.
    According to these analysis, it is found that the linear max. deflection of the diaphragm can be calculated easily, from such values as Young's modulus, thickness, diaphragm diameter, and geometrical dimensions of corrugated waves.
    As a result of these various experiments made on the actual diaphragms, it is found that the experimental data satisfactorily coincided with the author's theoretical calculations.
  • 田中 敬一, 桜井 慧雄, 内海 秀雄
    1969 年 5 巻 5 号 p. 452-457
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    The paper reports the results of experimental study on the effect of an aperture stop on frequency shift and variation of frequency width of observed beat signals using a laser Doppler velocity meter, which measures linear velocity of diffusing surface of a rotating ground glass plate detecting beat frequency between diffused laser beam and reference laser beam.
    Three kinds of the aperture stops, a circuler aperture, a horizontal slit and a vertical slit, are introduced in an optical path of the mixed laser beams of deffused and reference to restrict the effective diverging angle of the deffused beam. The experiment shows that decrease of the frequency of 20% as much as and increase of the frequency width of three times as much as the original ones of the beat signals due to increase of the size of the circuler aperture and the length of the horizontal slit from 1mm to 20mm, however increase of the length of the vertical slit has no effect on the beat signals.
    Refering to the experiment, the dependence of the shape of the beat signal on the intensity distribution and intensity ratio of the deffused beam and the reference beam, the relation between the spot size of the laser beam, surface roughness of the ground glass plate, speckle pattern in the deffused beam, coincidence of the wave fronts of diffused and reference beams and observed interference fringes are discussed.
  • 上野 敏行
    1969 年 5 巻 5 号 p. 458-466
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    The problem of identifying the dynamic characteristics of a process is an important one, and the various methods have been suggested and analyzed. This paper is concerned with the least squares estimates of the impulsive response of a linear process, and the validity of the method is considered.
    Under the condition that the estimates are unbiased and also linear functions of the process output signals, the least squares estimates have minimum variance if the noise is white. If the noise is not white, the Markov estimates have minimum variance among all estimates, although it is not easy to obtain them because of the computational difficulties. It is true that the Markov estimates have minimum variance, but the examples in this paper show that the least squares estimates have almost the same variance as them in some situations. Two examples are given: one is the results of the experiments using an analog computer and the other is the comparison of variances of the both estimates of the process subjected to the special inputs.
    The author admits that the conclusions in this paper follow from the results of the examples and will not be able to be accepted in all the cases, but he is sure that the method of process identification using the least squares estimates is a promising one.
    In the remainder of this paper, an analysis of the error in the estimates is given to explain the results of the experiments on the analog computer. The theoretical analysis and the results of the experiments show clearly the fact that the error between the actual and the computed impulse or step response depends on the input and the noise characteristics.
  • 中野 道雄
    1969 年 5 巻 5 号 p. 467-473
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    It is more important for engineers to predict the response of servo system rapidly and easily by using appropriate approximation than to calculate it by solving the characteristic equation of servo system.
    According to this demand, in this paper, after the method how to approximate high order servo system by second order servo system and dead time is considered, this approximated system is used in order to predict the response of high order servo system. In particular, as the approximated system has only three parameters, that is, gain, time constant and dead time, the effects that three parameters give to response can be investigated beforehand. Therefore, when the transfer function of high order servo system is given, the response of it can be easily defined by calculating the approximated system.
    Furthermore it is very important that the approximated system can be determined by easy algebraic calculation.
  • 仁田 工吉, 沖津 泰, 鈴木 茂行, 木内 陽介, 近藤 康夫
    1969 年 5 巻 5 号 p. 474-481
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    Recently, the speed control systems using separately excited DC motor driven by the thyristor DC power supply are employed in many industries, because they have more advantages when the conventional motor-generator speed control system.
    On the other hand, on account of the backward interceptive characteristics of the diode and the thyristor, the armature circuit is separated from the power supply during one cycle of the pulsating power supply. As a result of the above, the armature current often flows discontinuously. When the armature current is discontiuuous, the static and dynamic characteristics of the motor become fairly different from the case of continuous armature current.
    In this paper, the dynamic characteristics of the speed control system using the separately excited DC motor operated by the thyristor chopper controlled by means of the pulse width modulation are described. The authors turn their attention to the response of the motor speed for three input or disturbance signals; the variation of the load torque, the conductive period of the thyristor chopper, and the voltage of DC power supply. The transfer functions obtained to the above input signals are approximated by the first order lag, and the comparisons and the discussions of the measured dynamic characteristics and their transfer functions derived theoretically are given.
    However, the time constants and the gain constants of the tested motor are widely variable due to the operating conditions. Therefore, detailed datum to grasp the tendency of these variations and to obtain the characteristics of the separately excited DC motor correctly is offered here.
  • 横塚 勉
    1969 年 5 巻 5 号 p. 482-488
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
    When the induction motor is used as a control motor, the braking-torque performance is a special important matter. In this paper, braking-torque characteristics under various exciting conditions are analyzed by the use of equivalent circuit parameters. Exciting conditions can be divided into three components: (1) DC excitation, (2) fundamental wave excitation, (3) harmonic wave excitation. The each component of the braking-torque can be calculated respectively, and the total braking-torque can be obtained by superpose them.
    Analytical and experimental results on the 2-phase and 3-phase induction motors are obtained to check the accuracy of the calculating method. It can be said that this calculating method can be expected to give sufficient accurate results from the above comparison.
  • 椹木 義一, 吉川 恒夫
    1969 年 5 巻 5 号 p. 489
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
  • 小野 謙二, 木村 正行
    1969 年 5 巻 5 号 p. 490
    発行日: 1969/12/30
    公開日: 2009/03/27
    ジャーナル フリー
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