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システム/制御/情報 Vol. 13 (2000), No. 1

ISIJ International
belloff
オンライン版ISSN: 2185-811X
冊子版ISSN: 1342-5668
発行機関: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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キーワードランキング

23 Nov. (Last 30 Days)

システム/制御/情報 Vol. 13 (2000), No. 1

漸近的に最適なRLS適応同定アルゴリズム

田渕 敏明, 古本 奈奈代, 森本 滋郎, 山本 由和, 小林 郁典

pp. 1-13

DOI:

10.5687/iscie.13.1

抄録

A major, and yet unresolved, problem has been the choice of the gain adjusting parameter in some parameter estimation algorithms. This paper presents an adaptive setting method of the forgetting factor for estimating time-varying parameters when the Recursive Least Squares (RLS) algorithm is used. The method is to choose the forgetting factor λ so as to minimize the performance index defined by E {ε2t (λ)} where εt (λ) is the prediction error based on some λ. This is concretely done by solving the minimization problem of a certain object function with respect to λ. It is shown that this object function is unimodal with respect to λ and thus the minimization can be attained by using the stochastic Newton method. As a result, the proposed method becomes asymptotically optimal. The resultant algorithm can be executed by linking the minimization routine with RLS.
Numerical examples indicate acceptable performance.

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柔軟構造物における構造系と制御系の同時最適設計

多田 幸生, Jung-Hyen PARK

pp. 14-19

DOI:

10.5687/iscie.13.14

抄録

A simultaneous optimal design problem of structural and control systems is discussed for a 3-dimensional truss structure as an object. We use descriptor forms for a controlled object and a generalized plant because the structural parameters appear naturally in these forms. As the design purpose, we consider minimum weight design problem for structural system and suppression problem of the influence of disturbances for control system.

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柔軟構造物における構造系と制御系の同時最適設計

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省段取りブロック自動加工技術による角物部品の極少量マシニングセンター加工用CAD/CAMソフトウエアの研究

星 鐡太郎, Tetsutaro HOSHI

pp. 20-29

DOI:

10.5687/iscie.13.20

抄録

Setup-Free Block-Machining Technology has been studied in the interest of manufacturing extremely low repetitive and high variability products, in shorter throughput time and for reduced cost than using conventional machining methods. By specially designed setup-free attachment mounted on the table of a horizontal machining center, block like components, falling into a small size range, can be automatically machined from all of the six orientations in only one process without using other fixtures. To establish procedures and technologies for automatic operation of the single process block machining equipment, the Personal Computer (PC) Based CAD/CAM software, of which CAM phase generates NC program automatically, is structured. Machining Feature-based CAD concept, that is a subset of the parametric feature-based design principle but limiting the user's choice to features machinable by machining centers, is the principal methodology that makes the CAD output possible to be automatically processed in the CAM phase for generating the NC program.

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省段取りブロック自動加工技術による角物部品の極少量マシニングセンター加工用CAD/CAMソフトウエアの研究

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安定余裕を指定した部分極配置

佐藤 淳, 穂高 一条, 杉本 謙二

pp. 30-37

DOI:

10.5687/iscie.13.30

抄録

This paper proposes a design method of a state feedback gain which simultaneously achieves specified gain and phase margins and partial pole placement. Gain and phase margins are guaranteed by imposing quadratic constraints on open-loop transfer functions. Also, partial pole placement is done by using the same gain parametrization as in the polynomial ILQ method. It is shown that our design problem is formulated as a feasibility problem with LMI constraints and a non-linear equality constraint.

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安定余裕を指定した部分極配置

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パラメータ変動を伴うあるメカニカルシステムの非干渉制御

古屋 栄彦, 小林 伸明, 渡邉 敏夫, 吉良 靖彦

pp. 38-45

DOI:

10.5687/iscie.13.38

抄録

Parameter perturbations on decoupling control problem of linear multivariable systems are discussed in this paper. Fabian & Wonham had considered this problem. But the class of parameter perturbations that they studied preserved the decoupling property restrictive. The new class of parameter perturbation which preserves only the decoupling property is derived here. The proposed procedure for calculating the class is useful to mechanical systems when parameter perturbations are confined to specific elements. Experimental results show that this method is effective for a simple mass-spring system. Robust stability is also discussed in this experiment.

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パラメータ変動を伴うあるメカニカルシステムの非干渉制御

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むだ時間を含む1次遅れ系に対するPID制御器の部分的モデルマッチング法に基づいた設計法

赤松 貴文, 瀬部 昇, 北森 俊行

pp. 46-52

DOI:

10.5687/iscie.13.46

抄録

This paper is concerned with a design method of robust PID controllers for first-order lag with dead time. PID controllers have been widely used as they are easy to be tuned up. Ziegler-Nichols rule gives the parameters of a PID controller simply from the time constant, the dead time and the gain of the given plant. Although the rule is well-known and widely used, designed PID controllers does not attain the satisfactory performance even with the given nominal plant. This paper proposes a simple design method of robust PID controllers based on partial model matching. The proposed method gives the time constant of the closed-loop systems simply from the time constant and the dead time of the given plant.

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むだ時間を含む1次遅れ系に対するPID制御器の部分的モデルマッチング法に基づいた設計法

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有限な時間区間におけるサンプル値逆系の極限的性質

十河 拓也, 足立 紀彦

pp. 53-64

DOI:

10.5687/iscie.13.53

抄録

It is tricky to predict the limiting property of the inverse of sampled-data systems obtained from linear continuous-time systems in a finite-time domain when the sampling period goes to 0. The reason is that, in some cases, all zeros tend to the boundary between the stable and unstable areas when the sampling period goes to 0, while the number of sample points goes to infinity. In this paper, we discuss the limiting property of the case of relative degree 2. It is demonstrated that inverse sampled-data systems converge to inverse continuous-time systems on the finite-time domain independently of the stability of zeros.

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