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Volume 50, Issue 12
Displaying 1-10 of 10 articles from this issue
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Paper
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—Compensation of Cable Tension and the Tension Estimation Method—Atsushi IMADU, Hirotaka NOGUCHI, Tadao KAWAI2014 Volume 50 Issue 12 Pages 821-828
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSThis study suggests a flying control method for a helicopter connected to a station on the ground with a power supply and signal cable. Although the helicopter has virtually unlimited flight time on account of power supply from the station, the tension in the cable disrupts the flight of the helicopter. In the proposed method, the static cable tension exerted on the helicopter is estimated on the assumption that the cable can be considered to be a catenary. The attitude reference of the helicopter is modified so that the rotor thrust points in the direction opposite to that of the estimated tension. The estimated tension is balanced out with feedforward compensation. The results of simulations show that the modification of the attitude reference improves the response for horizontal moves and that the feedforward compensation reduces vertical errors.View full abstractDownload PDF (1749K) -
Gou NISHIDA2014 Volume 50 Issue 12 Pages 829-835
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSThis paper proposes a reduction of input/output variables used for boundary control and observation of energy in bi-Hamiltonian systems. The variables can be derived from a power balance equation defined by a Poisson bracket for infinite dimensional Hamiltonian systems. There is an infinite number of the balance equations of conserved quantities, i.e., Hamiltonians associated with infinite symmetry in bi-Hamiltonian systems. Hence, we can choose an appropriate input/output pair from the set of the balance equations.View full abstractDownload PDF (1011K) -
Yasuaki KANEDA, Yasuharu IRIZUKI, Masaki YAMAKITA2014 Volume 50 Issue 12 Pages 836-844
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSIn this paper, we propose a robust self-tuning controller (STC) under outliers. A parameter update law of a conventional STC consists of a recursive least squares estimation, and the estimation is given by a solution of a minimization problem of estimated errors. In the proposed method, we estimate parameters and outliers explicitly by addition of a l1 regression to the minimization problem like a robust Kalman filter via l1 regression, and the estimated outliers are removed from measurement outputs in the controller. We also analyze control performances of the proposed method under outliers, and it is shown theoretically that performances in the proposed method with outliers are nearly equal to ones in the normal STC without outliers. Numerical simulation, in which a controlled object is a non-minimum phase system, demonstrates effectiveness of the proposed method.View full abstractDownload PDF (2082K) -
Satoko YAMAKAWA2014 Volume 50 Issue 12 Pages 845-851
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSThe control method based on the Time-state control form can easily apply linear control theory to the controller design of chained systems. However, this method requires the switches of the signs of control gains when the time axis is switched. The conditions for stabilization of the system including the switches were derived by presenting a common Lyapunov function. In this paper, the switches of absolute values of control gains also are considered. The stability of the controlled system is guaranteed if the basic continuous-time linear system is stable and the parameter that modifies gain values is positive. The parameter is able to be switched independently of the time axis. The switching of the parameter showed some availability in numerical simulations of an auto parking problem.View full abstractDownload PDF (1160K) -
Satoshi ITO, Yasuaki ISHIKAWA, Minoru SASAKI2014 Volume 50 Issue 12 Pages 852-860
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSThis study examines perceptual changes that accompany motor learning for a balancing task. Perceptual changes in an upright state were demonstrated using an experimental method that involves the use of a specially designed but unstable stool capable of a lateral slide as well as roll rotation of the seat surface. Subjects were asked to keep the seat surface horizontal during the motor learning phase, in which the lateral slide occurred in synchronization with shifts in virtual roll about the rotatory axis. Perceptual changes were evaluated from a measure of the psychologically upright postures of each subject. Significant results from statistical analyses showed that psychologically upright postures were inversely affected by the direction of seat movement and roll rotation during the motor learning phase.View full abstractDownload PDF (1622K) -
Takumi FUJIOKA, Hiroshi OKAJIMA, Nobutomo MATSUNAGA2014 Volume 50 Issue 12 Pages 861-868
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSRobust control considering model uncertainty have been widely studied. The benchmark problem using three-inertia system was designed by SICE committee in order to correctly evaluate robust control methods. Traditional robust controller is designed to achieve desired performance for the worst case in a model set. Therefore, it is difficult to achieve high control performance by the traditional robust controller. To overcome this problem, we have proposed a robust control system for this benchmark problem using the model error compensator (MEC) and the frequency shaped final-state control (FFSC). MEC can minimize the gap between real plant and its nominal model. An input signal designed by FFSC can settle desired state variables in terminal period and achieve vibration suppression control. Since MEC is familiar with many other control systems, it is easy to combine FFSC and MEC. Simulation results for the benchmark problem are shown to confirm the effectiveness of proposed method.View full abstractDownload PDF (1736K) -
Hiroshi OKAJIMA, Yuki NISHIMURA, Nobutomo MATSUNAGA2014 Volume 50 Issue 12 Pages 869-874
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSThis paper deals with a kind of feedback linearization method for the nonlinear affine systems. In case of the standard feedback linearization method, the coordinate transformation is used and the nonlinear terms are canceled by using the nonlinear state feedback. Then, the input-output relation of the systems are linearized in the wide range of the state space. It is well known that the control system does not work well enough if there exists the modeling error and the disturbance. We propose a novel feedback linearization method to achieve good robust performance for the modeling error and disturbance. In our previous researches, a control structure to minimize the model error is proposed for the linear control systems. This structure of the control system is extended to the nonlinear control systems with some improvement. Since the extended control structure includes a feedback path of the error between the plant output and the desired model output, it is expected that the robustness is increasing in the meaning of input-output relation rather than the previous feedback linearization methods. The effectiveness of proposed structure is shown by numerical examples.View full abstractDownload PDF (841K) -
Kouki ARIMA, Nobuhiro OKADA, Kiyosi WADA, Kazuo KIGUCHI2014 Volume 50 Issue 12 Pages 875-879
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSThe purpose of this paper is to find the capacity of appropriate secondary battery while realizing output smoothing and the miniaturization of the system. We introduced capacity feedback control to decide the output level considering the state of the battery to solve the state management of it that was the problems of the conventional wind power generation in this study.View full abstractDownload PDF (833K) -
Shunsuke KOBAYASHI, Yasunori KADOYA, Shigemasa NAKAGAWA, Jiro KOJIMA, ...2014 Volume 50 Issue 12 Pages 880-889
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSThis paper proposes a new method to improve productivity of plate rolling. Two reverse plate mill balance optimization problem is formulated in this paper. Some typical optimization methods are tried to be applied for the problem. A new method based on branch and bound method is proposed. They are compared by simulations from the viewpoint of calculation time and optimization performance. Superiority of the proposed method is confirmed with online test.View full abstractDownload PDF (1739K) -
Shinnosuke IMAI, Tadahiro HASEGAWA2014 Volume 50 Issue 12 Pages 890-896
Published: 2014
Released on J-STAGE: December 23, 2014
JOURNAL FREE ACCESSWe have proposed the fall detection method using pulse wave and bloodstream as a vital sign, acceleration and angular velocity. Pulse wave and bloodstream are used for distinguishing between a case in which persons fell and a case in which persons did not fall down due to keep their balance although the fall began. For this method, the ubiquitous pulse wave and bloodstream sensor that can measure pulse wave and bloodstream even during fall motion was developed successfully. This pulse wave and bloodstream sensor has the DC-AC separation amplifier and optical modulator. The sensor enables to solve a transient response problem and prevent disturbance by ambient light and measure a human pulse during motion. The fall detection experiments showed that the fall detection algorithm using the pulse wave and bloodstream was able to distinguish between a case in which persons fell and a case in which persons did not fall down due to keep their balance although the fall began.View full abstractDownload PDF (2893K)
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