Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526695
A. Fujiwara, K. Katsumata, Y. Ishida
This paper describes a method of self-tuning the I-PD controller for pneumatic cylinder using neural networks. As it is well known I-PD controllers are widely used for process control, because they have good performance. However, it is very difficult to determine I-PD gains in case of controlled object with deadtime. Here, we propose a self-tuning I-PD controller and show the simulation and experimental results to demonstrate the effectiveness of our method.
{"title":"Neural network based adaptive I-PD controller for pneumatic cylinder","authors":"A. Fujiwara, K. Katsumata, Y. Ishida","doi":"10.1109/SICE.1995.526695","DOIUrl":"https://doi.org/10.1109/SICE.1995.526695","url":null,"abstract":"This paper describes a method of self-tuning the I-PD controller for pneumatic cylinder using neural networks. As it is well known I-PD controllers are widely used for process control, because they have good performance. However, it is very difficult to determine I-PD gains in case of controlled object with deadtime. Here, we propose a self-tuning I-PD controller and show the simulation and experimental results to demonstrate the effectiveness of our method.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122981603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526658
S. Park, Myung-Joon Kim, W. Kwon, O. Kwon
We suggest a statistically optimal FIR filter which estimates the time-varying Fourier coefficients of the quasi-periodic signal. It is shown that when the time-varying Fourier coefficients are in the random-walk motion, the quasi-periodic signal is represented by the stochastic state model whose state noise reflects the random increment of the Fourier coefficients. The state-space optimal FIR filter can then be applied to the state model to get the optimal short-time estimate. For the signals whose Fourier coefficients are nearly constant in the short-time interval, a simplified solution of the optimal FIR filter is also suggested. It is shown that the optimal FIR filter in the harmonic analysis problem is a stochastic and structural generalization of the DFT, and the optimal FIR filter gives exact harmonic estimate when the signal is periodic and noiseless. It is also shown by examples that the noise suppressing and the ability to resolve changes of the Fourier coefficients can be tuned by adjusting the filter length and the noise covariance setting.
{"title":"Short-time harmonic analysis via the state-space optimal FIR filter","authors":"S. Park, Myung-Joon Kim, W. Kwon, O. Kwon","doi":"10.1109/SICE.1995.526658","DOIUrl":"https://doi.org/10.1109/SICE.1995.526658","url":null,"abstract":"We suggest a statistically optimal FIR filter which estimates the time-varying Fourier coefficients of the quasi-periodic signal. It is shown that when the time-varying Fourier coefficients are in the random-walk motion, the quasi-periodic signal is represented by the stochastic state model whose state noise reflects the random increment of the Fourier coefficients. The state-space optimal FIR filter can then be applied to the state model to get the optimal short-time estimate. For the signals whose Fourier coefficients are nearly constant in the short-time interval, a simplified solution of the optimal FIR filter is also suggested. It is shown that the optimal FIR filter in the harmonic analysis problem is a stochastic and structural generalization of the DFT, and the optimal FIR filter gives exact harmonic estimate when the signal is periodic and noiseless. It is also shown by examples that the noise suppressing and the ability to resolve changes of the Fourier coefficients can be tuned by adjusting the filter length and the noise covariance setting.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117174982","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526977
K. Oda, Y. Toyoda, H. Nakamura
This paper introduces an application of the model-based system identification and control method, which was developed for the adaptive control of time-varying nonlinear processes. The control objective in this paper is steam temperature control of the boiler for power generation at the start-up stage, which is regarded as one of the most difficult ones among power plant controls because of strong process nonlinearity and dependence on the start-up conditions. In the paper, the concept of the simulator-model-based system identification and control method is introduced briefly. Then the proposed method is explained in detail through its application procedure to the plant model, which is regarded as an actual plant. Finally, some results of simulation studies are shown to demonstrate the effectiveness of the proposed method.
{"title":"Model reference control for steam temperature of power plant at start-up stage","authors":"K. Oda, Y. Toyoda, H. Nakamura","doi":"10.1109/SICE.1995.526977","DOIUrl":"https://doi.org/10.1109/SICE.1995.526977","url":null,"abstract":"This paper introduces an application of the model-based system identification and control method, which was developed for the adaptive control of time-varying nonlinear processes. The control objective in this paper is steam temperature control of the boiler for power generation at the start-up stage, which is regarded as one of the most difficult ones among power plant controls because of strong process nonlinearity and dependence on the start-up conditions. In the paper, the concept of the simulator-model-based system identification and control method is introduced briefly. Then the proposed method is explained in detail through its application procedure to the plant model, which is regarded as an actual plant. Finally, some results of simulation studies are shown to demonstrate the effectiveness of the proposed method.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115697619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526720
A. Matsushita, T. Tsuchiya
We propose an online preview planning method for a desired signal and its application to 3-wheeled vehicle. We combine online planning for a desired signal and control system design. The planner is part of the control system. The planned desired signal is changed with the state of the servo system. Online planning has an advantage over traditional off-line planning in that the planning as well as the servo system reduces the influence of disturbance, parameter perturbation and initial value. Preview control can't be utilized for online planning because the future desired signal depends on the future and present state of the control system, but the proposed method uses the future restriction of the desired signal. By integration of preview planning and online planning, the planner can prevent the output of the controlled object from spilling over the permitted domain better than without preview planning. Online planning constructs a feedback loop and preview planning adds feedforward. The domain within which the 3-wheeled vehicle moves is usually restricted by various obstacles etc. It can be regarded as the restriction of the desired signal. Information of the obstacle within a certain distance can be given by the sensor. Online planner can use the information of the future restriction in advance. The vehicle can start to avoid the obstacle earlier than without preview planning. We show a simulation result.
{"title":"Control system design with on-line preview planning for desired signal","authors":"A. Matsushita, T. Tsuchiya","doi":"10.1109/SICE.1995.526720","DOIUrl":"https://doi.org/10.1109/SICE.1995.526720","url":null,"abstract":"We propose an online preview planning method for a desired signal and its application to 3-wheeled vehicle. We combine online planning for a desired signal and control system design. The planner is part of the control system. The planned desired signal is changed with the state of the servo system. Online planning has an advantage over traditional off-line planning in that the planning as well as the servo system reduces the influence of disturbance, parameter perturbation and initial value. Preview control can't be utilized for online planning because the future desired signal depends on the future and present state of the control system, but the proposed method uses the future restriction of the desired signal. By integration of preview planning and online planning, the planner can prevent the output of the controlled object from spilling over the permitted domain better than without preview planning. Online planning constructs a feedback loop and preview planning adds feedforward. The domain within which the 3-wheeled vehicle moves is usually restricted by various obstacles etc. It can be regarded as the restriction of the desired signal. Information of the obstacle within a certain distance can be given by the sensor. Online planner can use the information of the future restriction in advance. The vehicle can start to avoid the obstacle earlier than without preview planning. We show a simulation result.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115991953","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526723
H. Hirayama, T. Nishimura, Y. Fukuyama
System analysis was applied for total cardiovascular system expressed by linear electrical circuit model. The system was comprised of systemic circulation, pulmonary circulation, arterial and venous circulation. Cardiovascular system was shown to be stable but uncontrollable. The singular values decreased rapidly at physiological frequency range while it showed positive values at low frequency. The amplitude and the duration of oscillation of the impulse responses and the singular values with optimized feedback control were markedly smaller than those without it. Thus in the autonomous state of cardiovascular system, adequate control of venous return is the most critical point to achieve optimal circulatory state. Present investigation must afford some insights to disclose the characteristic properties of cardiovascular system.
{"title":"Analysis of systemic behavior of circulatory system: theoretical study by electrical circuit model","authors":"H. Hirayama, T. Nishimura, Y. Fukuyama","doi":"10.1109/SICE.1995.526723","DOIUrl":"https://doi.org/10.1109/SICE.1995.526723","url":null,"abstract":"System analysis was applied for total cardiovascular system expressed by linear electrical circuit model. The system was comprised of systemic circulation, pulmonary circulation, arterial and venous circulation. Cardiovascular system was shown to be stable but uncontrollable. The singular values decreased rapidly at physiological frequency range while it showed positive values at low frequency. The amplitude and the duration of oscillation of the impulse responses and the singular values with optimized feedback control were markedly smaller than those without it. Thus in the autonomous state of cardiovascular system, adequate control of venous return is the most critical point to achieve optimal circulatory state. Present investigation must afford some insights to disclose the characteristic properties of cardiovascular system.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"137 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131694653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526718
J. Miguchi, Hansheng Wu, K. Mizukami
This paper is main concerned with the problem of robust stabilization of linear discrete-time systems with norm-bounded time-varying uncertainties. For such a problem, a simple method is presented whereby some sufficient conditions are derived so that discrete-time systems remain stable in the presence of norm-bounded time-varying uncertain perturbations. Some analytic method and a discrete type of Bellman-Gronwall inequality are employed to investigate such robust stability conditions. Moreover, in the light of such robust stability conditions, we can select the parameters of a dynamical controller so that uncertain discrete-time systems are stable, which lead to a controller design procedure. Finally, a numerical example is given to demonstrate the validity of results.
{"title":"Robust linear controller design for discrete time systems with norm-bounded time-varying uncertainty","authors":"J. Miguchi, Hansheng Wu, K. Mizukami","doi":"10.1109/SICE.1995.526718","DOIUrl":"https://doi.org/10.1109/SICE.1995.526718","url":null,"abstract":"This paper is main concerned with the problem of robust stabilization of linear discrete-time systems with norm-bounded time-varying uncertainties. For such a problem, a simple method is presented whereby some sufficient conditions are derived so that discrete-time systems remain stable in the presence of norm-bounded time-varying uncertain perturbations. Some analytic method and a discrete type of Bellman-Gronwall inequality are employed to investigate such robust stability conditions. Moreover, in the light of such robust stability conditions, we can select the parameters of a dynamical controller so that uncertain discrete-time systems are stable, which lead to a controller design procedure. Finally, a numerical example is given to demonstrate the validity of results.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131806401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526732
Byung-Soo Kim, Hyung-seok Han, B. Lee, Jang-Gyu Lee
Robust controller design method for continuous and discrete systems with time-variant interval uncertainties is addressed in this paper. The method provides a stabilizing region of controller gains. As a design example, the autopilot of underwater vehicle is designed using the proposed method.
{"title":"Robust controller design method and application to underwater vehicle autopilot","authors":"Byung-Soo Kim, Hyung-seok Han, B. Lee, Jang-Gyu Lee","doi":"10.1109/SICE.1995.526732","DOIUrl":"https://doi.org/10.1109/SICE.1995.526732","url":null,"abstract":"Robust controller design method for continuous and discrete systems with time-variant interval uncertainties is addressed in this paper. The method provides a stabilizing region of controller gains. As a design example, the autopilot of underwater vehicle is designed using the proposed method.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"387 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131935971","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526959
Tung-Kuan Liu, T. Ishihara, H. Inooka
For multiobjective control systems design, we use genetic algorithms to find the Pareto optimal set of various control system performance indices. We also propose a modified multiobjective selection scheme and the use of the improved rank-based fitness assignment. By combining multiobjective genetic algorithm (MGA) with the pole-zero placement algorithm which can avoid specified pole-zero cancellations, we construct a MATLAB based software package for the computer-aided control system design (CACSD) system for two degree-of-freedom discrete-time control systems. This CACSD system provides a large freedom in the choice of controller structure and in the design specifications. Effectiveness of the proposed CACSD system is illustrated by a design example where the multiobjective optimization by GA is compared with a goal attainment method in MATLAB OPTIMIZATION TOOLBOX.
{"title":"Multiobjective control systems design by genetic algorithms","authors":"Tung-Kuan Liu, T. Ishihara, H. Inooka","doi":"10.1109/SICE.1995.526959","DOIUrl":"https://doi.org/10.1109/SICE.1995.526959","url":null,"abstract":"For multiobjective control systems design, we use genetic algorithms to find the Pareto optimal set of various control system performance indices. We also propose a modified multiobjective selection scheme and the use of the improved rank-based fitness assignment. By combining multiobjective genetic algorithm (MGA) with the pole-zero placement algorithm which can avoid specified pole-zero cancellations, we construct a MATLAB based software package for the computer-aided control system design (CACSD) system for two degree-of-freedom discrete-time control systems. This CACSD system provides a large freedom in the choice of controller structure and in the design specifications. Effectiveness of the proposed CACSD system is illustrated by a design example where the multiobjective optimization by GA is compared with a goal attainment method in MATLAB OPTIMIZATION TOOLBOX.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130678797","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526652
M. Numazawa, M. Kurihara, A. Ohuchi
We propose a framework of conditional term rewriting systems equipped with meta-computation supported by basic mechanisms called meta-transformation and base-transformation. The arguments of a redex, the context around the redex and the current set of meta-conditional rewrite rules are considered as meta-level objects in our system, and by the meta-transformation they are transformed into base-level objects. The base-transformation transforms base-level objects called meta-representation into meta-level objects.
{"title":"Meta-computation in conditional term rewriting systems","authors":"M. Numazawa, M. Kurihara, A. Ohuchi","doi":"10.1109/SICE.1995.526652","DOIUrl":"https://doi.org/10.1109/SICE.1995.526652","url":null,"abstract":"We propose a framework of conditional term rewriting systems equipped with meta-computation supported by basic mechanisms called meta-transformation and base-transformation. The arguments of a redex, the context around the redex and the current set of meta-conditional rewrite rules are considered as meta-level objects in our system, and by the meta-transformation they are transformed into base-level objects. The base-transformation transforms base-level objects called meta-representation into meta-level objects.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116839284","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 1995-07-26DOI: 10.1109/SICE.1995.526981
M. Oda, S. Kawano, K. Kibe, F. Yamagata
NASDA is to launch an engineering test satellite called ETS-7 in the year 1997 to perform the in-orbit test of rendezvous docking (RVD) and space robot (RBT) technologies. ETS-7 consists of a chaser satellite and a target satellite whose weight are 2.2 t and 0.4 t respectively. These satellite will be launched by NASDA's H-11 rocket into a low Earth orbit. The ETS-7 RVD experiment aims to develop an automated RVD system and the RBT experiment aims to develop a satellite mounted telerobotic system.
{"title":"ETS-7, a rendezvous docking and space robot technology experiment satellite result of the engineering model development work","authors":"M. Oda, S. Kawano, K. Kibe, F. Yamagata","doi":"10.1109/SICE.1995.526981","DOIUrl":"https://doi.org/10.1109/SICE.1995.526981","url":null,"abstract":"NASDA is to launch an engineering test satellite called ETS-7 in the year 1997 to perform the in-orbit test of rendezvous docking (RVD) and space robot (RBT) technologies. ETS-7 consists of a chaser satellite and a target satellite whose weight are 2.2 t and 0.4 t respectively. These satellite will be launched by NASDA's H-11 rocket into a low Earth orbit. The ETS-7 RVD experiment aims to develop an automated RVD system and the RBT experiment aims to develop a satellite mounted telerobotic system.","PeriodicalId":344374,"journal":{"name":"SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1995-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114633403","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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