コントローラー トシテノ ニューラル ネットワーク ノ ガクシュウ

In this paper, a learning method for multi-layers neural network in system controller is discussed and the method is simulated for 3-layers neural network. The results obtained are summarized as follows. 1) Neural network in system controller is charactrized as a function generator between input and output. 2) Learning curve of neural network has a saturation characteristic. 3) Genarated fuction does not change largely due to the number of intermediate layer neurons. 4) Precision of approximation in genarated function does not change largely due to the number of teaching value. 5) Precision of approximation in parallel learning of two functions is nearly equal to that in learning of each function

ジュンリュウタイ ソシ ニヨル アツリョク ノ オン オフ セイギョ ニツイテ

In recent years, it has been reported a number of application of fluidics to industry. But there is few application to process control. This report deals with an on-off control of pressure in air tank by means of fluidics. The control system is constructed with an air tank, an on-off operation valve, needle valves, an orifice and one fluidic bistable element etc.. The characteristics of elements are examined, and the results is presented. As one of result, it was recognized that the plant consisting of capacitance and restsiction is not the first order element, and about this point a theoretical explanation is offered. This control system is very simple but sufficient results were obtained in respect to the response of system. But in this system, abjustment of supply pressure to a fluidic element is unavoidable in order to get good responses of system. This problem is the subject for a future study

5 ジユウド スカラガタ ロボット マニピュレータ ノ イチ ト チカラ ノ ハイブリット セイギョ

In this paper we discuss some control performances of a robot manipulator which is manufactured in our laboratory in order to write letters of calligraphy. The dynamic base parameters of the manipulator are first identified and the manipulator is then controlled by a dynamic hybrid position/force control method. The control errors for trajectory tracking are discussed by a simulation method and the probability to realize the calligraphy by robot manipulator is clarified

ロボット マニピュレータ ノ ロバスト ナ キドウ セイギョ

In this paper, we propose a robust control scheme which achieves trajectory tracking with prescribed accuracy for robot manipulators with bounded unknown parameters and different characteristics of servo-motor for direction of the rotation. This scheme is based on Lyapunov stability theorem, and the Liapunov function is constructed using the inertia matrix. The control law takes a very simple form based on the assumption that the dynamic equation can be expressed as a sum of products of unobservable matrices which contain unknown parameters and observable state vectors. The effectiveness of the proposed control scheme is shown by experimental results using a 2 degree-of-freedom manipulator

ニューラルネット ノ ニュウシュツリョク カンケイ ニ カンスル イチコウサツ

In this paper, the precision of function which expresses the relation between input and output of a system and is generated from a neural network is compared with that of the function generated from an identification model which is expressed b y a polynominal, and the effect of observation noise on the prescision is investi-gated by numerical simulation. The results obtained are summarized as follows. (1) In the generation of a sample function expressed by a square polinominal, the precision of function generated from the neural network is better than that of function generated from the identification model. (2) In the case of less than 2% of signal to noise ratio, a learning process which means the decreasing of the error between the sample function and generated functions with the increasing of the number of teaching values is realized in both neural network and identification model. (3) The precision of functions generated from both neural network and identification model grows worse rapidly with the increasing of signal to noise ratio

ロボット マニピュレータ ノ サイテキ キドウ ケイカク

This paper presents a method for optimal trajectory planning of robotic maniplators of which all joints are rotational. When the start and end points of end effector are given in the Cartesian coordinates, Fourier coefficients representing each joint velocity and interval of motion which specify the optimal trajectory in joint coordinates are searched by using the method of steepest descent. As numerical examples, the trajectories of three-link manipurator are simulated. And it is confirmed that the optimal trajectory is generated by the proposed method

オン オフ デンジベン ニヨル リュウリョウ セイギョ

In this paper, the motion of the spool and the flow rate of a spring return solenoid valve drived by PWM method have been analyzed theoretically and experimentally. The conditions to get the desired relationship between the flow rate and the pulse duty cycle have been predicted and these conditions have been confirmed by experiments. The obtained results are summerizd as follows : 1) In order to get the proportional flow rate corresponding to the pulse duty cycle, it is necessary that the solenoid thrust decreases and the spring force increases when the spool displacement increases. 2) In order to get the on-off flow rate characteristics, it is necessary for them to increase with an increase of the spool displacement. 3) Increasing the exciting pulse frequency, the proportional flow rate characteristics approaches to the on-off flow rate characteristics. In a practical valve used in experiment, the proportional characteristics were kept untill 50 Hz of the pulse

カリュウケイ ダイオードナイ サンジゲン ナガレ ノ スウチ ジッケン

In this paper, by means of numerical experiment, the transient response of the flow in the vortex diode and the steady flow field in the vortex chamber are investigated in detail. The flow in the chamber is regarded as an unsteady, three-dimensional, incompressible and viscous flow. The primitive Navier-Stokes equations are solved by using p-u method. The calculated vortex diode consists of four tangential nozzles, a square vortex chamber and an exit nozzle. The results obtained can be summaried as follows : 1) In the transient reverse flow, two distinct stages are recognized as known in the physical experiment. The significant pressure drop in the chamber occurs at the second stage when the rotating flow is accelerated. 2) In the steady reverse flow, the radial velocity in the end wall boundary layers is larger than that at midplane. Therefore, the most fluid particles flows out of the chamber through the end wall region. 3) The diode ratio, which has never been known theoreticaly, can be predicted by calculating the forward flow field too

リュウタイ ソシナイ 3ジゲン ナガレ ノ スウチ ジッケン

In this paper, by means of the numerical experiment, the laminar jet behaviour in an attachment fluidic device with small aspect ratio is investigated. The numerical solution for the three-dimensional, imcompressible, unsteady and viscid flow is calculated by solving the primitive Navier-Stokes equations by use of the predictor-corrector method. The results obtained can be summarized as follows : 1. In the case of smaller aspect ratio, the numerical solution can be obtained to the extent of the higher Reynolds Number. 2. Near the bounding plates more fluid flows into the separation bubble than that at midplane and then this flows toward midplane, and finally is entrained by the main flow. 3. The flow along the side wall, also, enters the bubble near the bounding plates. This results in a longer attachment distance near the bounding plates