巻号一覧
8 巻 (1972)
- 6 号 p. 629-
- 5 号 p. 513-
- 4 号 p. 389-
- 3 号 p. 261-
- 2 号 p. 125-
- 1 号 p. 1-
8 巻, 5 号
選択された号の論文の16件中1～16を表示しています
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中野 道雄, 前川 泰昭1972 年 8 巻 5 号 p. 513-519
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThe step motor which has been used in the digital servomechanism is the so-called exciting phase control type step motor, in which the stator windings are excited in sequence on the arrival of each input pulse, attracting the rotor.
However, in this paper, the rotating magnetic field type step motor is newly suggested. In this new step motor, both the stator and the rotor possess rotating magnetic field which rotates in the same direction with the same angular velocity. By the digital control of the phase of this rotating magnetic field, a universal motor possessing the wound rotor and stator is driven as a step motor with the following advantages.
(1) When one input pulse arrives, the rotating angle of the rotor that corresponds to this input pulse can be controlled by the simple electric circuit, and therefore this angle can easily be varied in a wide range.
(2) The heat loss at the time of light-load, compared with the conventional step motor, is extremely small. Especially, at standstill and no load (when output torque is zero), the electric current in the step motor is the exciting current only, so the heat loss of this motor is negligible.
(3) By the use of a universal wound-rotor induction motor, a high power step motor can easily be obtained.
In this paper, the principles of the new step motor and the control circuit are discussed. By using the control circuit, the resolver replacing the low power wound-rotor type induction motor was driven as a step motor. The results of this experiment were successful.抄録全体を表示PDF形式でダウンロード (925K) -
佐藤 拓宋, 上田 光宏, 多田 寿1972 年 8 巻 5 号 p. 520-525
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThe conventional ultrasonic imaging techniques including the holographic one give a high resolution in angle, but a relatively poor resolution in range, because the resolution in range is obtained only by use of selective focus or parallax useful only with a small focal ratio. This paper presents the principle and some experimental results of new ultrasonic imaging techniques that use a linear FM ultrasonic pulse and a pulse of light. This technique gives a high resolution both in angle and in range. It may be considered to be an application of pulse compression techniques used in chirp radar to the ultrasonic imaging. It has an image-forming capability as well as a range-discriminating capability.抄録全体を表示PDF形式でダウンロード (1348K) -
芝 亀吉, 一瀬 正, 上田 政文1972 年 8 巻 5 号 p. 526-529
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーIt is assumed that the dew point of the air passed through water as small bubbles is near the temperature of water. However, this fact is not proved experimentally, because of the difficulty of exact measurement of dew point.
When the temperature of air is varied under a constant pressure, the dew point of the air is kept unaltered. For the air of constant dew point, the temperature difference of psychrometer increases with the temperature of air. It is shown theoretically that the equi-dew-point curve near the dew point can be considered as a straight line. Therefore, the dew point of the air can be determined by finding the straight part of the equi-dew-point curve. For this purpose, the wet-and-dry-plate hygrometer can be employed suitably. The temperature of air passed through water is raised little by little from the temperature of bubbling water, and the relation between the temperature of air and the temperature difference is determined by the wet-and-dry-plate hygrometer. The intersecting point of the equi-dew-point curve and the temperature axis is the correct dew point. It is found experimentally that the straight part of the equi-dew-point curve extends to several degrees of the temperature difference. After the determiantion of the dew point, the ascertainment of the constancy of the dew point must be made by measuring the temperature and the temperature difference.
By the above mentioned method, the air of known dew point can be supplied continuously whether the air is saturated or not. It is experimentally shown that in some cases the bubbled air is not saturated with water vapour.抄録全体を表示PDF形式でダウンロード (486K) -
井上 悳1972 年 8 巻 5 号 p. 530-536
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThe author proposes a method of non-contact speed measurement similar to the so-called correlation method and to the model method that the author has proposed as the co-author. The irregular pattern on the surface of the moving strip is observed at two points along the direction of the velocity and the upperstream detected signal is supplied to a variable dead time mocel. The dead time is automatically adjusted so that the correlation of its input and output signals is equal to that of the two detected signals. Then, the dead time indicates the transport delay between the two points and the speed is measured from this.
The advantages of this method are as follows. First, as in the case of the model method, the variance in the measured value is suppressed independent of the length of the averaging interval when the patterns of the detected signals are identical. Secondly, the follow-up failure, which limits the application of a method of this type in practice, never occurs. This feature is an outstanding merit that the other methods do not possess.
On the other hand, examinations and experiments revealed the following difficulties in practical application of this method. One of them is that the auto-correlation of the irregurality must be known prior to the design of the detectors. And the other, that the difference of the patterns of the detected signals affects the accuracy of the measured speed more seriously than in the model method, because the gain of the measurement loop is lower.
The first of them was removed by an improvement of the measurement system to prepare for irregularities with fine components. The author concludes that the other difficulty will be overcome by jointly employing the model method, which necessitates a slight modification of the system.抄録全体を表示PDF形式でダウンロード (867K) -
渡部 慶二, 中津山 幹男1972 年 8 巻 5 号 p. 537-544
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーFrequency of periodic signals can be converted to lower frequency without distortion of original waveforms for use of a pen-writing oscillograph and an electromagnetic oscillograph by using sampling techniques.
In this paper, a new frequency control system for the frequency conversion is discussed. In this control system, the deviation of the output frequency from the setting frequency is detected by a new frequency detector from the difference between the reference point of the input waveform and the sampling pulses. The frequency of the sampling pulses is controlled by a PI controller. This frequency control system has a wide control range and automatically converts the frequency. The minimum setting time and the stability are also discussed.抄録全体を表示PDF形式でダウンロード (2659K) -
木下 源一郎, 森 政弘1972 年 8 巻 5 号 p. 545-551
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper describes an artificial tactile sense that not only takes the pressure information never crushing an object in the hand, but also discriminates one pattern from another on the surfaces being in touch therewith.
The stress distribution caused by the surface pattern of the object is transformed into the potential distribution by the receptor elements. Then, the surface pattern of object is identifiedd by sequentially processing the generated patterns corresponding to the distribution changes of threshold value. In this paper, the problems of the area of two-dimensional potential pattern for each threshold are discussed. The second fundamental differential form in differential geometry is defined by the relationship between the potential distribution and the threshold distribution corresponding to the tangent plane of the potential distribution. It is clarified that the form of the potential distribution is determined by calculating the second fundamental quantity.
The eigenvalue of the pattern of the stress distribution on the surface of the receptor elements. is derived from the Helmholtz equation. The element spacing of receptors is designed by using the relative error of the eigenvalue of the sampled pattern as the design parameter.抄録全体を表示PDF形式でダウンロード (1394K) -
関口 恭毅, 小山 昭一, 三浦 良一1972 年 8 巻 5 号 p. 552-560
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーA definite description of the flow shop scheduling problems and their analytic results are presented here.
A job shop can be regarded as consisting of three kinds of components, i.e. the work station, the intermediate pool and the transport way. The reverse flow shop is defined as a shop having a flow direction opposite to that of the primal flow shop.
It makes our problems more practical and more flexible to introduce two more concepts; one is the initial condition and the other is the terminal condition. They represent the desired shapes at the beginning and at the end of the Gantt chart of the solution, respectively. Also, a generalized objective function is adopted, which can be used to estimate the idling cost of any set of work stations, the rate of operations in the shop, etc.
On the basis of these ideas, two types of deterministic scheduling problems (the Primal Problems) and their Reverse Problems (the same types of problems concerned with the reverse flow shop) are defined.
The authors are sure that the separation of the definition of shops from that of problems makes it possible to systemize various job shop problems and to utilize scheduling theory for system design.
The main results can be stated briefly as follows.
(1) A theorem which gives one of the principal methods to get the lower bounds of a class of functions including the objective function adopted.
(2) Four theorems concerned with the properties of the solutions and the structures of our generalized primal problems.
(3) Two theorems stating the mutuality of the solutions of the primal and the reverse problems.
These results would be very useful for the construction of the effective algorithms for the solution of the scheduling problems.抄録全体を表示PDF形式でダウンロード (1255K) -
古田 勝久, 河 注植1972 年 8 巻 5 号 p. 561-567
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper presents an identification procedure for a multivariable system based on the system theory developed recently. In this procedure, the pulse transfer function is identified from the input and the output data, and the minimum dimensional realization is derived. Even in case that the input-output data are contaminated by noise, a slight modification of the method for noiseless case maked it possible to identify the pulse transfer function, and to realize the system practically by defining the ε-practical controllability. This paper also clarifies that the minimal realization gives the so-called order of the system.抄録全体を表示PDF形式でダウンロード (787K) -
朴 炳植, 鈴木 胖, 藤井 克彦1972 年 8 巻 5 号 p. 568-575
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーA new method is proposed for designing a multivariable feedback control system. Assuming that the reference inputs to the control system are described by polynomial functions of time, it is possible to determine the final values (steady state values) of the controls which finally make the outputs coincide with the reference inputs. The controls and the outputs at the transient state can be divided into two classes of components: one is that of steady state components and the other the residual variable components. By introducing a quadratic criterion function with regard to only these variable components, a synthesis problem of the feedback control system for the polynomial type reference inputs is reduced to a usual regulator problem. At first the existing condition of the steady state values of the controls for tracking the given reference inputs is derived and then these values are determined. The optimal feedback control system is easily composed by referring the control law which is obtained by solving the regulator problem. This system has the following characteristics:
(1) The reference inputs and their derivatives are applied to the control system.
(2) The parameters of the control system depend only on the parameters of the controlled system and on the weighting matrices of the criterion function.
Some examples are also presented.抄録全体を表示PDF形式でダウンロード (837K) -
横山 隆三1972 年 8 巻 5 号 p. 576-583
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーAn inverse problem of the optimal regulator is considered for a class of multi-input systems described in a new canonical form. Due to a compact structure of the systems, the analyses are conveniently performed to get relevant characteristics of optimal control systems. Necessary and sufficient conditions for optimized performance indices are given. Assumed that nonlinearities of the system exist only in the part of the directly controlled state variables, a further investigation is directed to the nonnegative property of optimized loss function. In the context, two major topics are considered. One is concerned with a question, “What performance indices can be optimized by identically zero feedback control law?” The other is “What performance indices can be optimized in a linearly synthesized feedback control system?” As an arbitrary system can be transformed into the canonical form, the assumption about the system structure does not restrict the applicability of the results obtained in this paper to general problems.抄録全体を表示PDF形式でダウンロード (999K) -
内点法による考察小林 幹夫, 大島 康次郎1972 年 8 巻 5 号 p. 584-590
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThe purpose of this paper is to establish an approximate method for solving constrained optimal control problems defined in Banach space by means of an interior penalty method.
The constraints treated herein are described by equalities and inequalities. These constraints, the control variables and the state variables are defined in general real Banach space.
At first, the case in which the equality constraints and the inequality constraints are embeded in the penalty function to obtain the approximate solutions is considered, and it is shown that a series of the approximate solutions converges to the optimal solution weakly or strongly and a series of the approximate values of the cost functional, converges to the optimal value.
Next, the case in which the inequality constraints are embeded only in the penalty function is treated. In this case, the results obtained for some functionals are symmetrical to the results obtained by the exterior penalty method. Especially the upper bounds for the optimal value of the cost functional are obtained, while the lower bounds are obtained generally by the exterior method.抄録全体を表示PDF形式でダウンロード (939K) -
相良 節夫, 杉坂 政典1972 年 8 巻 5 号 p. 591-599
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThe problem considered in this paper is the sequential estimation of a state in noisy nonlinear dynamic systems based on noisy nonlinear observations of a state. The class of systems considered is those in which the dynamical behavior is described by an ordinary differential equation with high nonlinearities, and the observations are obtained by the measurement devices with high nonlinearities. No statistical assumptions are required concerning both the natures of the input noises to the system and the measurement noises on the output. For the estimation purposes a least squares criterion is used.
An algorithm for estimating the state of noisy nonlinear dynamic systems is derived using invariant imbedding techniques. The new feature of the algorithm derived is that a sequential least squares estimator with higher order weighting functions is obtained for the class of problems considered. The sequential estimator equations obtained will be called the equations of the higher order approximated optimal filter.
A number of digital simulations are performed in order to compare the higher order approximated optimal filter obtained in this paper with the filter without a second weighting function proposed by D.M. Detchmendy & R. Sridhar. Simulated results from examples indicate that the proposed estimation algorithm is effective for the estimation problem of noisy dynamic systems with high nonlinearities.抄録全体を表示PDF形式でダウンロード (1033K) -
田村 捷利1972 年 8 巻 5 号 p. 600-605
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーTwo numerical approaches, which are referred to as the solution methods I and II, to the optimal control problem with such discontinuity that the system has different system equations according to the regions in the state space are presented in this paper. In the solution method I, which has a character similar to that of the exterior point method, the criterion function is modified by adding some penalty function instead of using the condition that the system equation changes just at the boundary of the two regions. In the solution method II the condition of boundary is always satisfied in the course of iterative calculations. The theoretical relations between the solution methods I and II are also given.
The usefulness of the solution methods is illustrated by a numerical example.抄録全体を表示PDF形式でダウンロード (694K) -
山根 裕造1972 年 8 巻 5 号 p. 606-613
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーWhen it is desired, frequently from the practical engineering standpoints, to design an output feedback gain matrix of linear multivariable control system which makes the closed loop most stable (optimum), it is insufficient that the resultant system satisfies only the Routh-Hurwitz stability condition.
In this paper we do not take the above problem as the quantitative optimization problem so as to minimize the conventional cost functional, but as the qualitative optimization problem in the sense that the total energy with respect to the free system can be made to die out most rapidly. We develop a procedure for the determination of output linear control law which needs no assumption on the initial states.
Firstly, supposing that the existence of energy function E{x(F, t), F} we introduce the concept of the degree of disappearance of that function, that is, Σ(F), where ∧(F)=Σ-1(F) can be interpreted as the largest time constant of all the state space and may be regarded as a figure of merit of the system. Secondly, the algebraic necessary conditions are found for an F*=-u/y that maximizes Σ(F), or equivalently minimizes ∧(F). In addtion, an algorithm for computing F* is shown and finally two-and three-order control systems are analyzed.抄録全体を表示PDF形式でダウンロード (886K) -
松原 正一, 西村 義行, 伏屋 彰三1972 年 8 巻 5 号 p. 614-618
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーA technique using a Liapunov functional is developed for calculating the integrated squared error of linear distributed parameter systems. This is a straightforward extension of the technique developed by Puri and Weygandt for linear lumped parameter systems. Taking notice of the analogy between the original distributed parameter system and the lumped parameter system obtained by spatially discretizing the original system, an appropriate Liapunov functional may be chosen easily.
Two examples are shown: a heat exchanger whose wall temperature is held constant and another heat exchanger whose wall temperature is controlled by a proportional-integral controller. The latter exchanger is a distributed parameter system coupled with a lumped parameter system.抄録全体を表示PDF形式でダウンロード (553K) -
前田 肇1972 年 8 巻 5 号 p. 619-626
発行日: 1972/10/30
公開日: 2009/03/27
ジャーナル フリーThis paper investigates the large scale system consisting of a number of subsytems by using the theory of directed graphs. It is assumed that each subsystem is characterized by a canonical form of the state equation. The problem of characterizing the total system by the canonical form of the state equation which contains all the informations of the total system is discussed. Some sufficient conditions for the problem are derived by applying the adjacency matrices of the directed graphs.
It is shown that the large scale system consisting of the blocks characterized by the dual forms of the state equations and reversing the direction of every line of the block represented system could be characterized by the dual forms of the original state equations.
As an application of the presented theory a design procedure for dynamic compensators achieving the pole-assignment is presented. An example is included to show the procedure. It is shown that observing the design procedure using the state observer from the presented theory a new algorithm obtaining the dynamic controllers could be derived.抄録全体を表示PDF形式でダウンロード (1042K)
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