著者

門脇 悟志 畑 正 廣瀬 寛 大石 潔 飯田 哲史 高木 正志 佐野 孝 保川 忍

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.124, no.9, pp.909-916, 2004 (Released:2004-12-01)

参考文献数

21

被引用文献数

7 7

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The improvement of adhesion characteristics is important in electric motor coach. We have already proposed the anti-slip/skid re-adhesion control system based on disturbance observer and sensor-less vector control. The effectiveness of the proposed method has been confirmed by the experiment and the numerical simulation using the tested bogie system of electric motor coach.Then, we apply the proposed method to the actual electric multiple units, which is Series 205-5000. In the experimental results of Series 205-5000, this paper discusses that the proposed anti-slip/skid re-adhesion control system has the desired driving wheel torque response. Moreover, this paper proposes the evaluation method of re-adhesion control test results.

著者

大石 潔 工藤 健二 柳澤 斉 徳丸 春樹

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.122, no.5, pp.421-429, 2002-05-01 (Released:2008-12-19)

参考文献数

17

被引用文献数

6 2

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This paper proposes a new high speed robust tracking control system based on both “Zero Phase Error Tracking” (ZPET) control system and robust servo system for an optical disk recording system. In the optical disk recording systems (for example CD-R), the tracking servo system must have the complete tracking response whose error is less than 0.1 [μm] for an amplitude of 100 [μm] of reference input signal. However, its detecting signal is only a tracking error. For this purpose, this paper proposes a new estimation method of the reference input signal by using only tracking error, and realizes the high speed robust tracking servo system with ZPET control. Moreover, this paper considers the saturation of controller output. The experimental and simulation results point out that the proposed system has a quick and precise tracking response.

著者

宮崎 敏昌 大瀧 栄 ソムサワッス タンパタラタナウォン 大石 潔

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.123, no.5, pp.525-532, 2003 (Released:2004-03-31)

参考文献数

15

被引用文献数

10 20

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This paper proposes a realization of motion control based on dynamic torque compensation and two-degrees-of-freedom speed control system. In order to suppress the dynamic torque of robot manipulator quickly, this paper constructs the feedforward torque compensation method based on inverse dynamics calculation on each joint control system.Moreover, the proposed joint control system is constructed by the robust control system based on the state feedback, PI speed controller and feedforward controller.The proposed method can suppress the influence of inertia variation and torsional vibration of joint system quickly and completely.The simulation results and experimental results show that the proposed system well regulates the motion of multi-joint robot and suppresses the torsional vibration.

著者

大石 潔

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌. D, 産業応用部門誌 (ISSN:09136339)

巻号頁・発行日

vol.137, no.4, pp.NL4_8, 2017

著者

ミッサンティスク チャワリット 大石 潔 ヤエムプラユーン サラユット 桂 誠一郎

出版者

自動制御連合講演会

雑誌

自動制御連合講演会講演論文集

巻号頁・発行日

vol.54, pp.112, 2011

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インタラクティブモーションコントロールへ応用を目的として、触覚情報が必要となる。外乱力を推定するために、外乱オブザーバ (DOB) と負荷側外乱オブザーバ (LDOB) と状態オブザーバ (STOB) が提案されている。本論文ではマルチエンコーダに基づいた外乱オブザーバ (MDOB) を提案して、二慣性共振系の負荷側の外乱力を推定する。この方法では、バネ定数の同定が必要ない。従来法では問題となる負荷側の外力推定における推定精度と速応性について、提案手法は有効である。その有効性を多質点系ロボットシステムのシミュレーション結果から検証した。

著者

大石 潔 間下 知紀

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.119, no.1, pp.88-96, 1999-01

参考文献数

9

被引用文献数

20 29

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When a robust servo system having an integral element has a large error input, it often has the windup phenomena caused by output saturation. It is very difficult for a strictly proper and high order controller to avoid having the windup phenomena caused by output saturation. This paper newly proposes the digital robust speed servo system with the complete consideration algorithm of output saturation. The proposed algorithm completely considers the output saturation of robust speed controller connected to PI current controller in series. Moreover, this method can apply to both PI speed controller and <i>H</i>^&infin; speed controller. The experimental results show that the robust speed servo system having the proposed algorithm has a good and stable response for a large step speed command.

著者

上町 俊幸 遠藤 亮 大石 潔

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.125, no.5, pp.530-531, 2005 (Released:2005-08-01)

参考文献数

5

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This paper proposes a new field-weakening control considering voltage saturation for vector controlled induction motor. The proposed method improves the output torque characteristics in the field-weakening region. The effectiveness of proposed method is verified by the experimental results.

著者

森本 雅之 大石 潔

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌D(産業応用部門誌) (ISSN:09136339)

巻号頁・発行日

vol.135, no.3, pp.NL3_6-NL3_6, 2015 (Released:2015-03-01)

著者

大石 潔 ケイプロム ウィモンパン 染野 徹

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.118, no.1, pp.38-44, 1998-01

被引用文献数

7 6

---

When a robot manipulator performs fast motion control, high joint torque is required. Moreover, additional joint torque is necessary to suppress disturbance. However, as an actuator can not produce very high joint torque, the saturation on joint torque occurs. This paper proposes a strategy to solve the saturation problem stated above. The two algorithms called the torque limiting algorithm and the reference adjusting algorithm are introduced. The torque limiting algorithm is applied in order to prevent the saturation of joint torque. Another algorithm called the path reference adjusting algorithm will suppress the deviation on path tracking caused by the limitation. The effectiveness of the proposed method is confirmed by experimental results of a 2-link planar arm manipulator.

著者

大石 潔 小川 泰明 中野 建 宮下 一郎 保川 忍

出版者

The Institute of Electrical Engineers of Japan

雑誌

電気学会論文誌. D, 産業応用部門誌 = The transactions of the Institute of Electrical Engineers of Japan. D, A publication of Industry Applications Society (ISSN:09136339)

巻号頁・発行日

vol.120, no.3, pp.382-389, 2000-03-01

被引用文献数

6 16

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In electric motor coaches, when the adhesion force coefficient between rail and driving wheel decreases suddenly, the electric motor coach has slip phenomena. We have already proposed the anti-slip control system based on ordinary disturbance observer. In order to realize the more stable anti-slip readhesion control in case of large variation of adhesion force coefficient, this paper proposes a new anti-slip readhesion control based on first order disturbance observer and new torque function. In the numerical simulation results in this paper, the proposed anti-slip readhesion control well regulates the driving wheel torque of electric motor coach stably.