著者

西沢 博幸 大澤 正敬 大年 浩太 平手 洋 中村 俊秋

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.572, pp.p1323-1328, 1994-04

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PID (Proportional, Integral and Derivative) control is generally used in industrial products today, because of its simple algorithm and good adaptability on the scene. However, the matching of PID control parameters is difficult, thus we are looking forward to the development of auto-tuning of PID control parameters. In this study, we attempted fuzzy auto-tuning for a gasoline engine's electronic speed controller with PID control. Here fuzzy production rules are independently applied, and each rule is weighted by the degree of inputs of assumed parts. This fuzzy reasoning method is useful in simplifying the description of fuzzy production rules and provides a simple means of control similar to that performed by humans.

著者

中川 智皓 竹原 昭一郎 須田 義大

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.749, pp.74-80, 2009

参考文献数

12

被引用文献数

2 2

---

In this research, the dynamic characteristics of a small wheel bicycle are investigated. The bicycle model is formulated by using multibody dynamics. Then, the stability of bicycles is analyzed by parametric study using the bicycle model. The effects of the parameters of tire diameter and head angle are examined by focusing on a small wheel bicycle. The straight-ahead stability and upstanding stability are evaluated at each parameter. The results show the tendency of stability at each parameter and the influential parameter to the small wheel bicycle is found. The driving experiment using the small wheel bicycle is performed. In the experiment, the stability of the small wheel bicycles with variable head angle is evaluated by the subjects. It is confirmed that varying head angle increases the stability of the small wheel bicycle. The results are corresponding with the simulation results and it is shown that the simulation captures the tendency of the stability and expresses the characteristics of the small wheel bicycle.

著者

宮本 岳史 石田 弘明 松尾 雅樹

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.64, no.626, pp.3928-3935, 1998-10-25

参考文献数

10

被引用文献数

4

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We have developed the new simulation program which can deal with the large displacement, as the railway vehicle derails or overturns and wheels leave from rails. The dynamic behavior of railway vehicles running on track vibrated due to earthquake is analyzed, using this numerical simulation. The tentative running safety limits are proposed, that show the critical amplitude of track vibration at each frequency against the derailment. Moreover, the influence of vertical track vibration besides lateral one on the running safety limits is investigated. As a result, it is found that the vehicle running safety against earthquake has strong relation to the lateral track vibration, although the vertical vibration promotes the jumping of wheels. In the low frequency area, the rolling of carbody is excited gradually, and then the vehicle overturns, when it suffers the large amplitude seismic motion. In the high frequency area, the wheel flange comes into collision with rail at the first or second vibration, and the wheel jumps and leaves from rail. In respect of the critical track acceleration, railway vehicles have a tendency to be able to stand the earthquake with high frequency vibration more than 1.4 Hz.

著者

国枝 正春 唐沢 昭雄 宇田川 和利 西村 誠一

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.47, no.414, pp.p164-170, 1981-02

被引用文献数

3

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地震による鉄道車両の転ぷくの力学的理論解析で、曲線通過時の遠心力、風圧力、走行中の振動慣性力の影響をも加えてある。まず、転ぷくに対する危険率Dを定義し、D=1が転ぷく限界であるとし、Dに及ぼす地震の大きさ、曲線半径、カント、走行速度、車両振動、横風の風速などの影響を算出する一般的な理論計算式を提出し、実車両による数値計算例をかかげた。各種車両の設計検討のために、実用に供することを目的としている。

著者

日比野 有 下村 隆行 谷藤 克也

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.75, no.758, pp.2605-2612, 2009

参考文献数

9

被引用文献数

2 6

---

In order to verify the validity of "the Detailed Equation" which is a method of static analysis on railway vehicle overturning, we conducted a full scale experiment. The Detailed Equation is an equation of the equilibrium of the forces that act on a railway vehicle, which is similar to an equation for solving the overturning problem of a rigid body, but the external forces and the displacement of the car body are taken into account in detail. Strong crosswind is an important problem for securing the safety of railway vehicles. "The critical wind speed of overturning" or "The wheel unloading ratio" is one of the indices to evaluate the safety of railway vehicles under strong crosswind, and can be obtained by the Detailed Equation. Thus we need to verify the validity of the Detailed Equation. In the full scale experiment, we loaded lateral force (assumed to be crosswind) on the test vehicle, and examined the behavior of the vehicle, such as displacement of the car body and variation of wheel load. As a result, the Detailed Equation has been verified to be valid when we use it for evaluating the critical wind speed of overturning or the wheel unloading ratio.

著者

五十嵐 昭男 吉田 孝文 服部 健太郎

出版者

一般社団法人日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.578, pp.p3372-3379, 1994-10

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Rolling motion is one cause of mechanical sound. Rolling sound may cause serious problems when it is excessive in machines and structures, for example. A series of studies have been carried out in order to obtain basic information for the reduction of rolling sound. This third report concerns the generation mechanism of the sound. Horizontal square steel plates with different surface finishes were simply supported at four points. Nylon and steel balls with different surface finishes were rolled at various rolling velocities on the plates, and the sound was measured using a condenser microphone. Surface topographies of the balls and plates were also measured by a device measuring the deviation from circular form and surface roughness, respectively. The signals obtained in the measurements were analyzed by an FFT analyzer. From the experiments, analysis and considerations, the generation mechanism of the sound was clarified.

著者

清水 創太

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.731, pp.2095-2100, 2007-07-25

被引用文献数

4

---

This paper proposes a model of wide-angle spase-variant image that provides a guide for designing fovea sensor. First, Advanced Wide-Angle Foveated(AdWAF) model is formulized taking all-purpose use into account. This proposed model uses both linear coordinates and logarithmic coordinates in both planar projection and spherical projection. Thus, this model divides its 120-degree wide-angle field of view into 4 areas, such that it can represent images by various types of lens, flexibly. The first simulation compares with other lens models, in terms of image height and resolution. The result shows the AdWAF model can reduce image data by 13.5 percent, comparing with a log-polar lens model, when both have the same resolution in the fovea area. The second simulation compares with other foveation models used for the existing wide-angle foveated lens, logpolar chip and vision system. The third simulation estimates scale-invariant property by comparing with the Kuniyoshi's lens and the log-polar lens. The AdWAF model gives its planar logarithmic part complete scale-invariant property, while the Kuniyoshi's lens has about 7.6-percent error at most in its spherical logarithmic part. Moreover, the AdWAF image is extracted from an input image by wide-angle foveated(WAF) lens, based on the proposed model.

著者

後藤 禎 江口 隆夫 古賀 毅 青山 和浩

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.771, pp.2754-2763, 2010-11-25

被引用文献数

2

---

For the development of high-functional and complex mechatronics products, it is becoming necessary to manage the design process considering multi-domains such as electrical, mechanical and software specialties. However, at present, in the process of embedded software development, the software developers often have to spend their time and efforts by wasteful and unnecessary design iterations because that they don't understand the original requirements and previous designing intentions exactly. The authors predict that the mechanical designers in previous processes, don't describe the reasons, how to analyze and why to adoption technologies insufficiently. In this paper, the authors propose that the requirement model should be introduced in development process, because all designers can understand "what to make" precisely. In reference of the studies of various requirement definitions, especially object-oriented approach, the authors studied that the procedure of description in the requirement model, which is suitable for the development of high-functional and complex mechatronics products. An intelligent crane system is designed as an example to examine the possibilities of description using SysML. In conclusion, proposed requirement model is confirmed that it can surely describe the product requirement of the mechatronics product.

著者

江口 隆夫 後藤 禎 古賀 毅 青山 和浩

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.771, pp.2772-2781, 2010-11-25

被引用文献数

2

---

This paper proposes a method of impact analysis of the design change from the initial design stage. In author's previous work, a hierarchical requirement model is proposed in order to define the requirement of the complex mechatronics product. The product requirement is decomposed into three aspects: mechanical, electrical, and software. A hierarchical functional structure is proposed to represent the functional component in each design layer. The states and actions is designed as an activity diagram, and decomposed into the activity diagram in the next design stage. A constraint diagram is proposed to assign behavior elements and technical specifications. A decomposition process of the states, actions, and values is visualized using dependency structure matrix. The design change propagation analysis is proposed based on matrix between components, object flows, states, actions, and values. The proposed method is developed as a proto-type system based on SysML specifications and using Rhapsody. An intelligent crane system is designed as an example. A design change of the required behavior and actions is tested. The design result indicated that the proposed method surely can provide an affected components, parameters, and technical specifications with the change of requirement behavior.

著者

斉藤 俊 千葉 洋三

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.64, no.623, pp.2389-2394, 1998-07-25

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Two kinds of road racer bicycles are employed to research vibration characteristics of driving bicycles. After obtaing the natural frequencies and modes by vibration test in the non-driving state, practical driving tests are carried out. The acceleration of vibration in the middle of the handles and under the saddles are measured and the corresponding spectral density functions are calculated based on FFT method. The results show that in the driving bicycles, the dominant frequencies exist between 10 Hz and 50 Hz and the lower two modes in the non-driving state are excited.

著者

渡辺 克巳

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.45, no.389, pp.83-89, 1979-01-25

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本報告は球面運動において有限に離れた5位置が指定されたときに定まるプルメスタ点の座標の計算法を簡明な形で確立するため,最初に自由度2の2節リンク機構のパラメータと第2番めの節上に固定された円弧の位置決定変数の間の関係式を導出している.次にこの式を基礎式として計算法を確立するときにはプルメスタ点の座標が線形5元連立方程式および六次方程式を解いて決定できることを解明している.

著者

村木 正芳 木村 好次

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.55, no.520, pp.3048-3055, 1989-12-25

被引用文献数

1

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Analysis is present of EHL traction with low-viscosity lubricating oils, which is the case encountered at higher temperatures. Extension is made of the approximate formula already derived by the authors, where it is assumed that viscosity, instead of viscoelasticity, predominates when the limiting Newtonian viscosity in an EHL film falls below a critical value, 10^5 Pas, and an Eyring viscous solution is employed. The rheological parameters representing the traction characteristics of an oil then become the effective viscosity-pressure coefficient and the representative stress, and they are expressed as functions of mean Hertzian pressure and bulk temperature. Calculated results are compared with experimental data obtained on a four-roller machine for two diesters showing close agreement.

著者

潤賀 健一 小倉 彰 長田 実 永瀬 和彦

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.56, no.530, pp.2825-2830, 1990-10-25

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Much difficulty has been encountered in cooperative traction of electric railcars and diesel railcars, because the structure and performance of the respective control systems are very different. Diesel railcars are characterized by more or less constant output from the initial to middle speed range and constant torque beyond the middle speed range. Electric railcars are characterized by virtually constant torque from the initial to middle speed range, with the output decided by notch order beyond the middle speed range. The authors propose a new control system for cooperative traction based upon an entirely new conception. This system changes a general notch order into a suitable notch order for the diesel railcar depending on the electric railcar's speed. The system was mounted on JR's electric and diesel railcars and tested on the main line of JR KYUSYU. Based on this test result, introduction of the system in commercial service was decided upon and practical operation began on April 29, 1989.

著者

佐口 太一 吉田 和夫 高橋 正樹

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.73, no.731, pp.2036-2041, 2007-07-25

被引用文献数

2 2

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Bicycle is the unstable system in itself. Although there are two methods of steering a handle and moving a weight in order to make a bicycle stable, it is shown that the former is more effective than the latter. This study deals with modeling and stabilizing control problems of a two-wheel bicycle. In the modeling, wheels side slip is taken into consideration. In the control, an optimal feedback control for stable running control is obtained. An autonomous bicycle robot is further developed. As a result of experiment, it is shown that the bicycle robot is able to run straight and turn stably. The effectiveness of the two-wheel bicycle model and control law are demonstrated.

著者

柳澤 秀吉 村上 存 大富 浩一 穂坂 倫佳

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.746, pp.2607-2616, 2008-10-25 (Released:2011-03-04)

参考文献数

13

被引用文献数

4 8

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This paper describes a new quantification method of a product's emotional quality, which we call kansei quality, with attention paid to its diversity to support the affective design. The customer's sensitivity towards such a quality differs from person to person due to perception gaps and ambiguity. The proposed method helps the designer to grasp such diverse sensitivities of customers. In contrast to the conventional approach that aims to generalize human sensitivity using average results of sensory tests, the proposed method divides an emotional quality based on differences among the customers' sensitivity. We apply the proposed method for designing a machine sound in which the designer deals with the sound quality as a kansei quality. We carry out an impression evaluation experiment on human subjects using existing product sounds. To demonstrate the effectiveness of the method, we compare the proposed method with the conventional approach using experimental results. The comparison results show the advantages of the method, such as the avoidance of meaningless average data caused by canceling out multiple different sensitivities. Based on the proposed method, we developed a prototype system that enables the designer to evaluate the kansei qualities of created sound without conducting a sensory test.

著者

吉川 恒夫 鄭 心知 森口 知規

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.60, no.578, pp.3335-3342, 1994-10-25

被引用文献数

3

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A system for displaying feel information while manipulating dynamic virtual objects is presented. A unified description of the dynamics of virtual objects based on the Lagrangian formulation is derived. The detection of the grasp states and the friction effects at the grasp points on a virtual object surface, which are important to help us recognize the object and handle it more dexterously, are treated explicitly. Display algorithms which create and present the dynamic operating feel of an object as well as the fricton feel on the object surface to the operator are proposed. Experimental verification of the proposed approches is performed and the results are outlined.

著者

小田 哲 矢野 満 五家 政人 小出 隆夫

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.56, no.532, pp.3416-3419, 1990-12-25

被引用文献数

4

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This paper presents a study on the bending fatigue strength of austempered ductile iron (ADI) gears. The bending fatigue tests for ADI, S 45 C, FCD 80, and SCr 420 case-hardened gears were carried out, and the bending fatigue limit loads of ADI gears were compared with those of other gears. The bending fatigue limit loads of the ADI gears used were found to be almost equal to those of case-hardened gears. Furthermore, shot peening was performed on ADI gears, and the effect of shot penning on the bending fatigue limit loads of ADI gears was investigated by carrying out the bending fatigue tests. The bending fatigue limit loads of ADI gears can be raised considerably by shot peening.

著者

東森 充 内海 圭祐 大本 康隆 金子 真

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.74, no.743, pp.1825-1833, 2008-07-25

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This paper discusses a dynamic manipulation of an object on a plate attached at the tip of manipulator, where the basic concept is inspired by a handling mechanism of pizza master. Both the position and the orientation of object are dynamically controlled by the plate. The main driving force for manipulating the object is produced by the combination of inertial and frictional forces generated by one rotational and one translational motion of the plate. We first discuss how to make motions of object for three degrees of freedom on the plate. We then show that it is guaranteed to achieve an arbitrary set of desired position and orientation of object by the proposed manipulation scheme. Finally, we show a couple of experiments for confirming the basic idea by using a high-speed manipulator with an assistance of vision.

著者

土井 久代 西尾 壮平 後安 慧 宮本 岳史 上田 洋

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.76, no.770, pp.2440-2446, 2010-10-25

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It is very important to secure running safety of railway vehicles even when vehicles get derailed. In 2004, a Shinkansen train was derailed by a huge earthquake and its derailed wheels ran on concrete slabs. Taking account of this kind of accidents, a number of vehicle-guidance devices have been developed. Some of these devices are designed so as to lead derailed wheels onto a runway made of concrete slabs. In order to simulate the derailed cars running behavior on a runway of concrete slabs, it is necessary to make clear creep force characteristics and friction coefficients between wheels and concrete slabs, which are essential elements in determining vehicle dynamics. However, there is scarcely a study of rolling contact between steel wheels and concrete slabs; therefore the authors have executed an experimental investigation to evaluate creep force characteristics and friction coefficients between a steel testing wheel and a concrete slab.

著者

武田 行生 舟橋 宏明 村松 伸幸

出版者

一般社団法人日本機械学会

雑誌

日本機械学會論文集. C編 (ISSN:03875024)

巻号頁・発行日

vol.62, no.599, pp.2920-2926, 1996-07-25

被引用文献数

2

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This paper proposes an architecture of a planar in-parallel actuated manipulator with three degrees of freedom which is composed of the positional mechanism and the orientational chain. Kinematic synthesis is carried out to maximize the practically dextrous working space (PD working space) in which motion transmissibility is excellent and any orientatinon angle of the output link can be obtained. The size of working space and range of output orientation of the synthesized mechanism are compared to those of the mechanisms in the literature, and the results show that the synthesized mechanism has a large PD working space.