最近,姿勢制御の開発につれてたとえば,飛翔体,船舶,車両等において,それらに塔載されている計測器の設置条件により,ある部分の基台面のみを水平に保ち,常に外部の動揺を取り除く必要性が生じてきた.また,輸送中における安定性等からも,同様な要求が生ずるものと考えられる.そこで,本報告では,これらの目的のための基礎研究として,水平面上における直交2軸から常に操作を受けるように設置した平板をもつ試験基台に外乱として動揺を与え,このような状態でも平板が常に水平制御されるモデルを試作した.従来,このような修正動作を加える構造のものとして,ジンバル方式によるものが速応性に優れている構造として,種々の機器に用いられている.しかしながら,ジンバル方式は制御機構が複雑なため,制御対象に対して装置全体が大きくなり,対象の形状が大きい場合,および重い場合には不適当である.そこで,当研究室では,速応性はジンバル方式に比べて劣るが,大きな形状の対象物を電気的に制御できる構造の装置とした.この構造の特徴は,ジンバル方式では困難な,修正動作を与える機構が同一基台上に取り付けられる利点があることである.すなわち,装置の機構が比較的単純で,その形状が大きくならないことである.この制御装置は,平板の傾斜角をバーティカルジャイロスコープによって検出する構造となっている.以下にこの研究結果について述べる.また,それとともに,この試作装置のステップ応答特性,周波数応答特性をも併せて記す.
本実験の結果,工学への一応用として船舶などの緩やかな動揺の除去等にも広く応用されることが確かめられた.

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To make reasonable plans for maintenance, analyzing past incident records is necessary. However, details of these records are usually written by natural texts and it is difficult to acquire information such as trends and distribution from them. In this paper, coding is introduced as a technique for adding semantic level structures to texts. The authors propose a text mining method for coding which facilitates users generating codes and annotating codes on sentences by showing sets of candidate sentences to users. The method utilizes clustering and machine learning techniques. The proposed method shows its efficiency thorough analyzing real incident data.

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従来の装置にくらべて小型軽量化した遠隔操作イメージオルシコンカメラを試作し, 精度, 速度などの電気的性能は十分設計仕様を満足するものを得た.今後に残された問題として, 1) テレビカメラ用サーボ機構としては騒音の発生が最も問題となるため, 新しい材料, 方式の開発2) 主に機構部の安定度, 信頼度の向上3) 人間工学的見地から操作機構の設計などがある.

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ビデオ・シーンやクロマキーの分野でその効果を十分に発揮するためには, 親カメラと, 子カメラの連動装置が重要な役割をしめている.その生命は追従精度にあるが, 本稿は昨年TBSで開発したテレビカメラ連動装置について, 概略の設計方針を述べ, 実際面から予想される種々の誤差を検討し, それによって製作した装置の内容を紹介し, 試験結果をまとめた.

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In order to control an electric servo motor precisely, the state variables of the motor should be known exactly. For that purpose, position sensor, velocity sensor and current sensor are mainly used. However sufficient control performance is not always obtained when the fluctuations of the parameters such as torque constant and inertia moment are excited, or when a large step-like load is imposed. In particular, these problems are serious in the robot controller or the numerical controller in the machine tools. To overcome these problems, an advanced control method which also utilizes the information of the acceleration has been proposed recently.
Since the practical angular accelerometer is not available, the differentiation of the speed signal is carried out to obtain the acceleration signal. This method does not give the precise acceleration signal to the controller due to the noise problem in the high frequency area. More effective method should be developed. In this paper, a method which estimates an accurate acceleration by using both a position sensor and an AC tachogenerator is proposed. In the proposed method, the higher harmonic component except the fundamental component in the AC tachogenerator outputs is cancelled out by the proposed method based on the Fourier analysis. Because of a considerable amount of the comprehensive calculation, the digital signal processor (DSP) will be applied to the real applications. Several experimental results based on the proposed method with DSP are also shown.

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マニピュレータを人力で操作する場合, 慣性力・摩擦力・重力等による操作抵抗を軽減する必要がある.本論文では, 直接駆動マニピュレータにおいてモータを用いて操作力を補助する能動的力補助, 及びそのための操作力検出について述べる.この方法は, モータ電流によるモータトルク検出と内界センサ (等) による回転検出との組み合わせによって操作力を検出し, 力センサを必要としない.また力補助システムのいくつかの構成法について述べ, 実験によって力補助の効果を示す.

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In a magnetic tape unit, high speed and precise positioning control should be achieved. This paper demonstrates that a Kalman filter can precisely estimate the state variables for the capstan motor, combined with its torsion resonance characteristics modeling, and widen the loop bandwidth by the feedback from estimated state variables.
The capstan motor is modeled as a two freedom resonant system that consists of two parts, a torque generator part and a capstan part. The Kalman filter is constructed to estimate rotation angle and rotation angle velocity for the two parts, from the motor driving current and the capstan rotation angle.
The comparison between experimental frequency response for estimated state variables and calculated values confirmed that the two freedom model for the capstan motor was able to describe its actual resonant characteristics and that the Kalman filter circuit operated up to several kHz beyond the first resonant frequency for the system. The actual capstan motor was controlled by feedback from these estimated signals, based on the optimal control theory. The result shows that the loop bandwidth for the positioning control was extended about twice as wide as the conventional method, where a tachogenerator and band reject filters were used. The motor was started up for about 0.4ms.

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An idea of the optimum design of the monitoring system in automated manufacturing is proposed in the paper. The machine system such as a machine tool or an automated manufacturing system is first represented by the flow diagrams of motion, in which a failure in the machine is considered as open or short of a flow path. Next the kinds of the sensors to detect the state of motion and the locations for the sensors to be possibly installed are examined. Analysis of the flow diagrams leads to formulation of the signal matrices of the sensors corresponding to each failure and to determination of the layout of the sensors necessary to identify the type and the location of each failure. Lastly, the optimum layout of the sensors is selected of these sets of the sensors by considering the cost of system operation and the reliability of the sensors.

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Knowledge of the absolute speed of running direction of an automobile yields simple control rule of the anti-skid breaking system (ABS). The speed of the automobile calculated by the wheel speed includes the abrupt non-stational error due to slip and skid of wheels and the biased error due to the steady state slip. These errors lead to difficulty to develop the ABS. This paper describes how to accurately estimate the absolute speed of the mobiles from the acceleration in running direction of mobiles corrupted by high frequency noise and the erroneous wheel speed measurements.
Here, we employ the extended Kalman filter to reduce the high frequency noises in the acceleration measurement and the biased error in the wheel speed measurement. Further we employ a strategy to switch the values of the Kalman filter coefficient by simple rules to compensate abrupt non-stational errors in the wheel speed measurement. The rules are constructed by a simple knowledge such that when the skid or slip occurs, the wight of the acceleration measurement is set heavier and that of wheel speed measurement is set lighter.
Simulations and model experiment carried out to verify the proposed strategy demonstrated that the strategy could estimate accurate absolute speed even when the wheel had slip or skid.

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In the high-order automatic control system, it is difficult to know whether the system performanceis in over damping or under, even if the characteristic equation of the system is given. In this paper, thesystem performance is defined to be in over damping when the roots of the characteristic equation are allnegative and is defined to be in under damping when the characteristic equation has more than one pairof complex roots. It is proved that the principal conditions to determine the boundary between overdamping and under damping are derived from the characteristic equation and its derivatives. Here isgiven a new method for obtaining the overdamping region in the stability chart of the system by use ofthe foregoing result.

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There reported several weighing apparatuses. According to their principle, the counter force against the acting one is caused by the displacement of the force-acting part. But, in the case of measuring the physical quantities, the movement of the sensing part is apt to make a change of initial condition. Then, when the measuring is wanted to be done without displacement of the part, the above method can not be applied.
In order to remedy the above demerit, a device including an integrating element is developed. By inserting the element, the control system becomes to be of so-called I-type, and the steady state deviation of the part can be theoretically removed.
The experiments on the behaviors of this device show good results: the device has no steady state deviation and the controlling system is stable and has quick response. In addition, an applicating experiment to this device to the reaction flow-meter has been done, and the result shows fairly good usefulness of this device.

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従来より本研究室では,姿勢制御の一例として船舶等に加わる比較的ゆるやかな動揺が船室におよぼす影響を除去する目的で,水平自動制御装置を考案試作し,これに関する研究を行なってきた.そこで,このたびこの装置を基台として,さらに上下方向の動揺をも除去する目的で,位置制御装置を試作しこれに関する研究を行なった.
外乱によって上下に動揺する制御対象を静止させるためには,まず外乱によって制御対象に生ずる変位の計測が必要である.変位の計測において,基準になる静止点が定まっている場合,変位はその静止点からの位置を計測すればわかる.しかし,一般に用いられている輸送体において,このような静止点を見いだすことは容易ではない.そこで,次の手法を用いて変位の計測を行なった.すなわち,変位は加速度を二回積分することによって求められるので,外乱によって生ずる加速度を計測し,それを二回積分演算処理することによって,間接的にその変位は求められる.そして求められた変位信号をもとに制御系を動作させ,制御対象に修正動作を加えることにより,上下の動揺に対する制御対象の位置制御が可能となる.本装置は上述の原理にもとづいて構成されている.

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Positive torque feedback was suggested to eliminate the influence of load variation in servomechanisms, while the requirements imposed on a torque transducer were severe, and the theoretical explanation for this method was not complete as yet. In this paper, the author has introduced the computed torque feedback method, in which the motor torque is computed from both manipulated variable and output speed without using a torque transducer. The servomechanism applying this method is analyzed by the phase plane technique, and it is shown that the servomechanism with torque or computed torque feedback resembles the relay servo with nonlihear velocity feedback. The system can be designed to have the characteristics of an optimum nonlinear control for a fixed load, but the response becomes oscillatory overdamped or as the load inertia increases or decreases. Computed torque feedback is applied to direct current servomechanism, and the satisfactory experimental results are obtained.

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