Pub Date : 1992-12-15DOI: 10.1299/JSMEC1988.35.582
J. Lai, Yuan-Rong Chen
The use of hydraulic proportional valves in industry is becoming increasingly popular as they have better performance than conventional on-off valves and lower cost than servovalves. However, due to significant time delay in valve dynamics, they are currently used for low-accuracy and low-dynamics applications. In this study, an adaptive self-tuning controller is proposed to enable a hydraulic proportional valve to achieve accurate set-point flow rate control. A moving model which reduces the system order and hence reduces the identification effort was used for the controller design. The controller is based on the pole-placement technique which shifts the dominant pole to the desired location. In addition, a predictor has been proposed to overcome the effect of the time delay. Experimental results have shown that the proposed self-tuning controller is better than the conventional PI controller as both transient oscillation and steady-state error shown in the PI control have been significantly reduced. Also, the performance of the closed-loop system is very robust as the system response remains the same under Various operating conditions.
{"title":"Adaptive Flow Rate Control of a Hydraulic Proportional Valve","authors":"J. Lai, Yuan-Rong Chen","doi":"10.1299/JSMEC1988.35.582","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.582","url":null,"abstract":"The use of hydraulic proportional valves in industry is becoming increasingly popular as they have better performance than conventional on-off valves and lower cost than servovalves. However, due to significant time delay in valve dynamics, they are currently used for low-accuracy and low-dynamics applications. In this study, an adaptive self-tuning controller is proposed to enable a hydraulic proportional valve to achieve accurate set-point flow rate control. A moving model which reduces the system order and hence reduces the identification effort was used for the controller design. The controller is based on the pole-placement technique which shifts the dominant pole to the desired location. In addition, a predictor has been proposed to overcome the effect of the time delay. Experimental results have shown that the proposed self-tuning controller is better than the conventional PI controller as both transient oscillation and steady-state error shown in the PI control have been significantly reduced. Also, the performance of the closed-loop system is very robust as the system response remains the same under Various operating conditions.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127862728","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 : 1992-12-15DOI: 10.1299/JSMEC1988.35.652
K. Ichimaru, Naoshi Izumi, M. Kimura, keishi Kobori
Scoring-proof capability and frictional characteristics of oils containing solid lubricants such as molybdenum disulfide and graphite, a S-P-type EP additive and organomolybdenum compounds such as MoDTP and MoDTC were evaluated using atwo-roller machine under a step load condition. In the case of the addition of molybdenum disulfide or graphite, scoring load and frictional conditions, such a scoefficient of friction, surface temperature and the state of oil-film formation, were similar to those of the base oil in which those additives were not added. The addition of the S-P-type EP additive and the organomolybdenum compounds improved the scoring limits. These improvements can be attributed to the formation of substances which inhibit the occurrence of scoring. The substance is insulating and has a high coefficient of friction in the case of the S-P-type EP additivt, while it is conductive and has a low coefficient of friction in the case of organomolybdenum compounds. Two diagrams of the surface temperature-friction coefficient and insulating voltage-friction coefficient clarified the effects of these additives.
{"title":"Effect of Lubricant Additives on Scoring-Proof Capability of Gear Oils","authors":"K. Ichimaru, Naoshi Izumi, M. Kimura, keishi Kobori","doi":"10.1299/JSMEC1988.35.652","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.652","url":null,"abstract":"Scoring-proof capability and frictional characteristics of oils containing solid lubricants such as molybdenum disulfide and graphite, a S-P-type EP additive and organomolybdenum compounds such as MoDTP and MoDTC were evaluated using atwo-roller machine under a step load condition. In the case of the addition of molybdenum disulfide or graphite, scoring load and frictional conditions, such a scoefficient of friction, surface temperature and the state of oil-film formation, were similar to those of the base oil in which those additives were not added. The addition of the S-P-type EP additive and the organomolybdenum compounds improved the scoring limits. These improvements can be attributed to the formation of substances which inhibit the occurrence of scoring. The substance is insulating and has a high coefficient of friction in the case of the S-P-type EP additivt, while it is conductive and has a low coefficient of friction in the case of organomolybdenum compounds. Two diagrams of the surface temperature-friction coefficient and insulating voltage-friction coefficient clarified the effects of these additives.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123227126","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 : 1992-12-15DOI: 10.1299/JSMEC1988.35.633
Y. Ougiya, Y. Ariura, T. Nakanishi
The effects of the combination of tooth flank hardness and tooth surface roughness on the surface durability of medium-hardness gears are investigated using a disk machine. The meaning of the difference in hardness between a pair of gears is discussed. In the case where the surface roughnesses differ between contact surfaces with the same initial hardness, severe wear and pitting occur on the smooth surface because the asperities on the rough surface are highly hardeneddue to the repetition of contact. Therefore, it is necessary that the initial hardness of the smooth surface is higher than that of the rough surface in a combination of different sufface roughnesses. This means that the hardness combination between a pair of gears should be determined in consideration of the final condition of the finished tooth surfaces of the gears.
{"title":"A fundamental study of the surface durability of medium-hardness gears: effects of combination of hardness and surface roughness","authors":"Y. Ougiya, Y. Ariura, T. Nakanishi","doi":"10.1299/JSMEC1988.35.633","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.633","url":null,"abstract":"The effects of the combination of tooth flank hardness and tooth surface roughness on the surface durability of medium-hardness gears are investigated using a disk machine. The meaning of the difference in hardness between a pair of gears is discussed. In the case where the surface roughnesses differ between contact surfaces with the same initial hardness, severe wear and pitting occur on the smooth surface because the asperities on the rough surface are highly hardeneddue to the repetition of contact. Therefore, it is necessary that the initial hardness of the smooth surface is higher than that of the rough surface in a combination of different sufface roughnesses. This means that the hardness combination between a pair of gears should be determined in consideration of the final condition of the finished tooth surfaces of the gears.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132350249","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 : 1992-12-15DOI: 10.1299/JSMEC1988.35.611
T. Ishimatsu, N. Taguchi, T. Ochiai, T. Ohata
This paper describes a system which enables fast 3-dimensional measurementof a human head by means of a slit ray projection method. The system developed here consists of a laser slit ray projector, two CCD TV cameras, a real-time video signal processor and a 32-bit computer. Due to the employment of this real-time video signal processor and a fast data-processing technique using a reference table, a 3-dimensional measurement of the human head can be Accomplished in 4.3 seconds, and all the image data are converted to 3-dimensional data in one second. Experimental data reveal the applicability of our system.
{"title":"Fast Three-Dimensional Measurement Technique Using a Reference Table : Measurement of a Human Head","authors":"T. Ishimatsu, N. Taguchi, T. Ochiai, T. Ohata","doi":"10.1299/JSMEC1988.35.611","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.611","url":null,"abstract":"This paper describes a system which enables fast 3-dimensional measurementof a human head by means of a slit ray projection method. The system developed here consists of a laser slit ray projector, two CCD TV cameras, a real-time video signal processor and a 32-bit computer. Due to the employment of this real-time video signal processor and a fast data-processing technique using a reference table, a 3-dimensional measurement of the human head can be Accomplished in 4.3 seconds, and all the image data are converted to 3-dimensional data in one second. Experimental data reveal the applicability of our system.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"123 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117121216","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 : 1992-12-15DOI: 10.1299/JSMEC1988.35.647
Hwang-jin Lee, Y. Yoon
The algorithm for the systematic detection of an embedded rigid structure in enumerating a basic kinematic chain has been developed. The main idea in thisalgorithm is the sequential removal of binary link strings from the given kinematic chain to simplify the remaining chain. The proposed algorithm is implemented in a program using the LISP language and applied to several kinds of kinematic chains, such as those with 1, 2, 3, and 4 degrees of freedom and having 2, 3, 4, and 5 independent loops, respectively. In most cases, the results are in good agreement with those presented by other investigators. However, there are some discrepancies for several cases in the number of kinematic chains. The proposed algorithm is fairly efficient in that it can be applied to some unexplored cases aslisted in the Results section. The structural data of each kinematic chain are also obtainable if needed.
{"title":"Detection of Rigid Structure in Enumerating Basic Kinematic Chain by Sequential Removal of Binary Link String","authors":"Hwang-jin Lee, Y. Yoon","doi":"10.1299/JSMEC1988.35.647","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.647","url":null,"abstract":"The algorithm for the systematic detection of an embedded rigid structure in enumerating a basic kinematic chain has been developed. The main idea in thisalgorithm is the sequential removal of binary link strings from the given kinematic chain to simplify the remaining chain. The proposed algorithm is implemented in a program using the LISP language and applied to several kinds of kinematic chains, such as those with 1, 2, 3, and 4 degrees of freedom and having 2, 3, 4, and 5 independent loops, respectively. In most cases, the results are in good agreement with those presented by other investigators. However, there are some discrepancies for several cases in the number of kinematic chains. The proposed algorithm is fairly efficient in that it can be applied to some unexplored cases aslisted in the Results section. The structural data of each kinematic chain are also obtainable if needed.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132850817","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 : 1992-12-15DOI: 10.1299/JSMEC1988.35.547
M. Kurihara, M. Shigeta, T. Niino, Tsutomu Matsuki
This paper presents a 3-dimensional seismic isolation floor developed to protect computer systems in nuclear power plants from strong earthquakes. The 3-dimensional seismic isolation floor consists of floor panels, a floor frame, horizontal coil springs, isolation-supporting devices and devices for controlling rocking motion. In order to examine the performance of the 3-dimensional isolation floor, vibration tests of an isolation floor model, on which an actual computer system was set up, were carried out using a 3-dimensional shaking table. Test results confirmed that the actual computer system was effectively isolated by the 3-dimensional seismic isolation floor.Moreover, an analytical model was validated against these test results. For the analytical simulation the floor frame was representdd by five lumped masses and the isolation device was modeled as 2-dimensional springs and dampers. Both the calculated acceleration time history and floor response spectrum agree well with test results.
{"title":"Development of a 3-dimensional seismic isolation floor for computer systems","authors":"M. Kurihara, M. Shigeta, T. Niino, Tsutomu Matsuki","doi":"10.1299/JSMEC1988.35.547","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.547","url":null,"abstract":"This paper presents a 3-dimensional seismic isolation floor developed to protect computer systems in nuclear power plants from strong earthquakes. The 3-dimensional seismic isolation floor consists of floor panels, a floor frame, horizontal coil springs, isolation-supporting devices and devices for controlling rocking motion. In order to examine the performance of the 3-dimensional isolation floor, vibration tests of an isolation floor model, on which an actual computer system was set up, were carried out using a 3-dimensional shaking table. Test results confirmed that the actual computer system was effectively isolated by the 3-dimensional seismic isolation floor.Moreover, an analytical model was validated against these test results. For the analytical simulation the floor frame was representdd by five lumped masses and the isolation device was modeled as 2-dimensional springs and dampers. Both the calculated acceleration time history and floor response spectrum agree well with test results.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126696264","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 : 1992-12-15DOI: 10.1299/JSMEC1988.35.598
Tomokazu Hirabayashi, K. Yamafuji
We have developed a variable-structure-type locomotive robot which can employ three variations of locomotive style according to the working environment or application of the robot. In a previous study, we described the concept of the variable-structure-type locomotive robot, the controlling methods and the experimental results on the first variation. In this investigation, the leg-leg type, which is a type of quadruped walking robot, is reported. Two forms of walking are proposed. One is the "rub" gait in which each pair of legs is always in contact with the ground and walking is achieved by rubbing or slipping while moving the forelegs and hindlegs alternately. This locomotive style is advantageous in maintaining body stability. The other is the "bound" gait in whith two pairs of legs kick back against the ground simultaneously in order to propel the robot. It has been experimentally confirmed that both forms of locomotion are useful in the leg-leg type, and high-speed translation can be attained by the "bound" gait. The control method for the step width proposed here for the "bound" gait proved effective in providing the robot with a constant-width-step walk, independent of environmental conditions and slope of the ground.
{"title":"Control of the Variable-Structure-Type Locomotive Robot : Walking Forms and Controlling Methods of the Leg-Leg Type","authors":"Tomokazu Hirabayashi, K. Yamafuji","doi":"10.1299/JSMEC1988.35.598","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.598","url":null,"abstract":"We have developed a variable-structure-type locomotive robot which can employ three variations of locomotive style according to the working environment or application of the robot. In a previous study, we described the concept of the variable-structure-type locomotive robot, the controlling methods and the experimental results on the first variation. In this investigation, the leg-leg type, which is a type of quadruped walking robot, is reported. Two forms of walking are proposed. One is the \"rub\" gait in which each pair of legs is always in contact with the ground and walking is achieved by rubbing or slipping while moving the forelegs and hindlegs alternately. This locomotive style is advantageous in maintaining body stability. The other is the \"bound\" gait in whith two pairs of legs kick back against the ground simultaneously in order to propel the robot. It has been experimentally confirmed that both forms of locomotion are useful in the leg-leg type, and high-speed translation can be attained by the \"bound\" gait. The control method for the step width proposed here for the \"bound\" gait proved effective in providing the robot with a constant-width-step walk, independent of environmental conditions and slope of the ground.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121665825","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 : 1992-09-15DOI: 10.1299/JSMEC1988.35.413
Y. Tada, R. Matsumoto, Megumi Nagai
{"title":"Optimum Structural Design Considering Vibration Control","authors":"Y. Tada, R. Matsumoto, Megumi Nagai","doi":"10.1299/JSMEC1988.35.413","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.413","url":null,"abstract":"","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120936199","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 : 1992-09-15DOI: 10.1299/JSMEC1988.35.421
M. Arakawa, H. Yamakawa
{"title":"Direct Identification Method Using Fuzzy Numbers.","authors":"M. Arakawa, H. Yamakawa","doi":"10.1299/JSMEC1988.35.421","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.421","url":null,"abstract":"","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126789561","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 : 1992-09-15DOI: 10.1299/JSMEC1988.35.406
T. Matsui, Y. Mochizuki
Output torque/force of a hydraulic actuator is generally affected by its driving speed. This may cause deterioration of the control accuracy of the system in which the plant is controlled through the driving torque/force control of the actuator. This study proposes a positive angular velocity feedback for compensation of the effect of the driving speed on the driving torque control of a rotary hydraulic actuator. The compensation scheme is experimentally applied to motion control of a one-link hydraulic robot which is controlled by means of the computed torque method. The experiments show that the compensation scheme is effective in isolating the driving torque of the actuator from its driving speed and slightly improves the tracking accuracy of the motion control.
{"title":"Effect of Positive Angular Velocity Feedback on Torque Control of Hydraulic Actuator","authors":"T. Matsui, Y. Mochizuki","doi":"10.1299/JSMEC1988.35.406","DOIUrl":"https://doi.org/10.1299/JSMEC1988.35.406","url":null,"abstract":"Output torque/force of a hydraulic actuator is generally affected by its driving speed. This may cause deterioration of the control accuracy of the system in which the plant is controlled through the driving torque/force control of the actuator. This study proposes a positive angular velocity feedback for compensation of the effect of the driving speed on the driving torque control of a rotary hydraulic actuator. The compensation scheme is experimentally applied to motion control of a one-link hydraulic robot which is controlled by means of the computed torque method. The experiments show that the compensation scheme is effective in isolating the driving torque of the actuator from its driving speed and slightly improves the tracking accuracy of the motion control.","PeriodicalId":356058,"journal":{"name":"JSME international journal. Series 3, Vibration, control engineering, engineering for industry","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1992-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115146698","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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