Papers by Keyword: Parameterization

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Authors: Zeng Bao Zhu, Jun Ji, Can Li, Ji Xu Rong
Abstract: The design process of involute spur modified gear is very complicated, especially the accurate mapping of the tooth profile curve, in which it must demands specialized knowledge to designers by procedural programming method. According to the tooth profile curve calculation method as well as its relationship with cutter, get the curve equation of involute and tooth root transition curve. Compiled each the program of the calculating curve of tooth profile by Visual Basic, and built the precision model of involute spur modification gear based on the SolidWorks through the secondary development. This paper realizes the parametric precise modeling of modified gear and improves the accuracy and automation level of the design of gear. It has important significance to the dynamic simulation of gear and interference inspection as well as finite element analysis.
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Authors: Kou Yamada, Tatsuya Sakanushi, Iwanori Murakami, Yoshinori Ando, Yuki Nakui, Da Zhi Gong
Abstract: In this paper, we examine a design method for control system to attenuate unknown inputand output disturbances using disturbance observers. The disturbance observers have been usedto estimate the disturbance in the plant. Several papers on design methods of disturbance observershave been published. Recently, parameterizations of all disturbance observers and all linear functionaldisturbance observers for plants with any input and output disturbances were clarified. If parameterizationsof all disturbance observers and all linear functional disturbance observers for any input andoutput disturbances are used, there is a possibility that we can design control systems to attenuate unknowninput and output disturbances effectively. However, no paper has examined a design methodfor control system using parameterizations of all disturbance observers and all linear functional disturbanceobservers for plants with any input and output disturbances. In this paper, in order to attenuateunknown input and output disturbances effectively, we propose a design method for control systemusing parameterizations of all disturbance observers and all linear functional disturbance observersfor plants with any input and output disturbances. In addition, control characteristics of the proposedcontrol system are clarified.
182
Authors: Nghia Thi Mai, Kou Yamada, Iwanori Murakami, Yoshinori Ando, Takaaki Hagiwara, Tatsuya Hoshikawa, Masafumi Hosoya
Abstract: In the present paper, we examine the parameterization of all stabilizing Internal Model Controllers(IMC) for multiple-input/multiple-output unstable plant. The parameterization problem is theproblem in which all stabilizing controllers for a plant are sought [1, 2, 3, 4, 5, 6, 7, 8, 9]. Since this parameterizationcan successfully search for all proper stabilizing controllers, it is used as a tool for manycontrol problems. However, there exists a problem whether or not stabilizing controllers for unstableplant can be represented by IMC structure. The IMC structure has advantages such as closed-loop stabilityis assured simply by choosing a stable IMC parameter. Additionally, closed-loop performancecharacteristics are related directly to controller parameters, which makes on-line tuning of the IMCvery convenient[6]. The solution to this problem, Morari and Zafiriou[6] examined the parameterizationof all stabilizing IMC for unstable plant. Their parameterization remains difficulties. Their internalmodel is not necessarily proper. In addition, their parameterization includes improper IMC. In order toovercome these problems, Chen et al. proposed a design method for IMC for minimum-phase unstableplant[17]. However, the method proposed by Chen et al. cannot apply for multiple-input/multipleoutputunstable plant. Because many of actual plants are multiple-input/multiple-output plants, consideringfor multiple-input/multiple-output unstable plant is important. In this paper, we propose theparameterization of all proper stabilizing IMC for multiple-input/multiple-output unstable plant suchthat the IMC and the internal model are proper. In addition, we present an application of the result forcontroller design for multiple-input/multiple-output time-delay plant.
210
Authors: Takaaki Hagiwara, Kou Yamada, Iwanori Murakami, Yoshinori Ando, Shun Matsuura
Abstract: PID(Proportional-Integral-Derivative) controller structure is the most widely used one in industrial applications. Yamada and Hagiwara proposed a design method for modified PID controllers such that modified PID controllers make the control system for unstable plants stable and the admissible sets of P-parameter, I-parameter and D-parameter are independent from each other. When modified PID control systems are applied to real plants, the influence of disturbance in the plant must be considered. In many cases, disturbance in the plant is unknown. It is comparatively easy to attenuate known disturbance, but it is difficult to attenuate unknown disturbances. From a practical viewpoint, it is desirable to design a modified PID control system to attenuate unknown disturbances. However, no paper examines a design method for modified PID control systems to attenuate unknown disturbances. In this paper, we propose a design method for modified PID control systems to attenuate unknown disturbances.
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Authors: Iwanori Murakami, Nghia Thi Mai, Kou Yamada, Takaaki Hagiwara, Yoshinori Ando, Hideharu Yamamoto
Abstract: In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. The Smith predictor is proposed by Smith to overcome time-delay and known as an effective time-delay compensator for a plant with large time-delay. The Smith predictor by Smith cannot be used for plants having an integral mode, because a step disturbance will result in a steady state error. Several papers considered the problem to design modified Smith predictors for unstable plants. However, no paper examines a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays. In this paper, we examine a design method for modified Smith predictors for non-minimum-phase time-delay plants with multiple feedback-connected time-delays.
253
Authors: Yoshinori Ando, Kou Yamada, Nobuaki Nakazawa, Takaaki Hagiwara, Iwanori Murakami, Shun Yamamoto, Tatsuya Sakanushi
Abstract: In this paper, we examine the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants. The modified repetitive control system is a type of servomechanism designed for a periodic reference input. When modified repetitive control design methods are applied to real systems, the influence of uncertainties in the plant must be considered. The stability problem with uncertainty is known as the robust stability problem. Recently, the parameterization of all stabilizing modified repetitive controllers was obtained. Since the parameterization of all stabilizing modified repetitive controllers was obtained, we can express previous study of robust stabilizing modified repetitive controller in a uniform manner and can design a stabilizing modified repetitive controller systematically. However, the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants has not been obtained. In this paper, we clarify the parameterization of all robust stabilizing modified repetitive controllers for time-delay plants.
233
Authors: Kou Yamada, Nghia Thi Mai, Yoshinori Ando, Takaaki Hagiwara, Iwanori Murakami, Tatsuya Hoshikawa
Abstract: The modified Smith predictor is well known as an effective time-delay compensator for a plant with large time-delays, and several papers on the modified Smith predictor have been published. The parameterization of all stabilizing modified Smith predictors for single-input/single-output time-delay plants is obtained by Yamada et al. However, they do not examine the parameterization of all stabilizing modified Smith predictors for multiple-input/multiple-output time-delay plants. The purpose of this paper is to expand the result by Yamada et al. and to propose the parameterization of all stabilizing modified Smith predictors for multiple-input/multiple-output time-delay plants. Control characteristics of the control system using obtained parameterization of all stabilizing modified Smith predictors are also given. Finally, a numerical example is illustrated to show the effectiveness of proposed parameterization of all stabilizing modified Smith predictors.
221
Authors: Nghia Thi Mai, Kou Yamada, Yoshinori Ando, Iwanori Murakami, Tatsuya Hoshikawa
Abstract: The modified Smith predictor is well known as an effective time-delay compensator fora plant with large time-delays, and several papers on the modified Smith predictor have been published.Recently, the parameterization of all stabilizing modified Smith predictors for time-delay plantswas obtained by Yamada et al. But, their method cannot specify the input-output characteristic andthe feedback characteristic separately. From the practical point of view, it is desirable that the inputoutputcharacteristic and the feedback characteristic are specified separately. In this paper, we proposethe parameterization of all stabilizing two-degree-of-freedom modified Smith predictors for multipleinput/multiple-output time-delay plants.
221
Authors: Kou Yamada, Nobuaki Nakazawa, Iwanori Murakami, Yoshinori Ando, Takaaki Hagiwara, Shun Yamamoto, Nhan Luong Thanh Nguyen, Tatsuya Sakanushi
Abstract: Multi-period repetitive controllers improve the disturbance attenuation characteristic of the modified repetitive control system that follows the periodic reference input with a small steady state error. Recently, the parameterization of all stabilizing multi-period repetitive controllers was studied. However, when the parameterization of all stabilizing multi-period repetitive controllers is used, the input-output characteristic and the feedback characteristic cannot be specified separately. From the practical point of view, it is desirable to specify the input-output characteristic and the feedback characteristic separately. In addition, the parameterization is useful to design stabilizing controllers. Therefore, the problem of obtaining the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers that can specify the input-output characteristic and the disturbance attenuation characteristic separately is important to solve. In this paper, we propose the parameterization of all stabilizing two-degree-of-freedom multi-period repetitive controllers.
194
Authors: Zhong Xiang Chen, Kou Yamada, Nobuaki Nakazawa, Iwanori Murakami, Yoshinori Ando, Tatsuya Sakanushi, Takaaki Hagiwara, Nhan Luong Thanh Nguyen, Shun Yamamoto
Abstract: Multi-period repetitive controllers improve the disturbance attenuation characteristic of themodified repetitive control system that follows the periodic reference input with small steady stateerror. Recently, the parameterization of all stabilizing multi-period repetitive controllers was studied.However, when the parameterization of all stabilizing multi-period repetitive controllers is used, theinput-output characteristic and the feedback characteristic cannot be specified separately. From thepractical point of view, it is desirable to specify the input-output characteristic and the feedback characteristicseparately. In addition, the parameterization is useful to design stabilizing controllers. Fromthis view-point, the parameterization of all stabilizing two-degree-of-freedom multi-period repetitivecontrollers those can specify the input-output characteristic and the disturbance attenuation characteristicseparately was solved by Yamada et al. However, when we design a stabilizing two-degree-offreedommulti-period repetitive controllers using the parameterization proposed by Yamada et al, thefrequency characteristic of the control system cannot be settled so easily. From the practical point ofview, the frequency characteristic of the control systems are required to be easily settled. This problemcan be solved by obtaining the parameterization of all stabilizing two-degree-of-freedom multi-periodrepetitive controllers with the specified frequency characteristic. In this paper, we propose the parameterizationof all stabilizing two-degree-of-freedom multi-period repetitive controllers with thespecified frequency characteristic.
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