著者

武居 直行 古荘 純次 岩越 邦男

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.2, pp.149-155, 2003 (Released:2004-03-31)

参考文献数

24

被引用文献数

5 4

---

Most Industrial robots are driven through reduction gears such as harmonic drives and RV gears. Since the exibility of the drive system, the vibratory behavior is caused duringthe operation. When the exibility is considered, the drive system of the robot joint can be modeled as a resonant mechanical system called two-inertia system. Two-inertia systems are the vibratory systems that have poles on/near the imaginary axis. Acceleration feedback and torque feedback are known as the vibration control methods of two-inertia systems. In this paper, we consider the two-inertia system with the feedbacks of motor-acceleration, load-acceleration and torsion-torque. It is shown that each feedback works to control the inertia-ratio of two-inertia system. Then, the control performances are compared. Torsion vibration in robot joint, which occurs owingto the accuracy of components and assembly error of gears at a certain speed of rotation, becomes a problem. In order to suppress the torsion vibration, each feedback is applied to the robot arm. As a result, the torsion vibrations are suppressed e ectively.

著者

川路 茂保 小笠原 健一

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) (ISSN:09136339)

巻号頁・発行日

vol.116, no.4, pp.435-440, 1996-03-20 (Released:2008-12-19)

参考文献数

14

被引用文献数

1 2

---

Genetic Algorithms (GAs) are powerful and usable algorithms for the nonlinear optimization problem, and some studies of application of GA to the control problem were reported. The search process of GA depends on the fitness value which is assigned to each candidate solution by the fitness function. But as the control objective is more complicated, the design of the proper fitness function becomes more difficult.In this paper, we propose a new search method of GA which reduces the difficulties of the design of the fitness function. In our method, the control objective is divided into some intermediate objectives according to the control strategy, and the search process of GA proceeds with the fitness function for the intermediate objective. The search process is controlled by switching the fitness function based on the average fitness value of the current candidate solutions so that the optimum solution is found. Thus, the search space is structured by using the fitness function and the structure is changed by switching the fitness function based on the quality of the current candidate solutions. In order to confirm the availability of the proposed method, the swing-up control problem of a pendulum is used as an application example and the simulation results are given.

著者

長谷川 勝

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.138, no.12, pp.NL12_16, 2018-12-01 (Released:2018-12-01)

参考文献数

3

著者

溝手 宗昭

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) (ISSN:09136339)

巻号頁・発行日

vol.111, no.12, pp.1073-1078, 1991-12-20 (Released:2008-12-19)

参考文献数

12

被引用文献数

1

---

The facial temperature alters in such cases as when a human plays exercises, when the ambient temperature changes, or when he feels psychological shock. I attempted to estimate the facial temperature change which was caused by psychological change in the human mind.In room temperature (between 22 and 26°C) facial temperature and heart rate of male students stretching a back muscle dynamometer and playing role in the psychodrama were measured by an infra-red camera. Subjects stretched the dynamometer as quickly and powerfully as possible, and held it for 10 seconds. And a trial was repeated five times every two minutes in an exercise. Facial temperature and heart rate of subjects increased while stretching the dynamometer. The facial temperature of most of the subjects decreased as the trial was repeated and the heart rate of subjects recovered soon after the exercise. But, in 3 of 10 subjects, the facial temperature increased gradually even after the stretching as the trial was repeated and their heart rate also increased. On the other hand, in the psychodrama, increased facial temperature of subjects who experienced psychological shock was kept high for more than 20 minutes. Then heart rate of subjects was not changed.I developed a system which estimated the human psychological change by calculating deviation from the mean in measured data.

著者

角濱 文隆 高木 亮

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.140, no.4, pp.232-238, 2020-04-01 (Released:2020-04-01)

参考文献数

7

---

Soft coupling is a conceptual system in which two or more train sets on the same railway track can run like one long mechanically coupled train set, with very little space between the adjacent train sets. It is expected to open up possibilities for the realization of highly flexible and improved rail services. However, it is known to be very difficult for two separate train sets in motion to complete soft coupling, i.e., for the distance between these train sets to become zero. In the method we proposed in our previous papers, the time required for the completion may be infinite, because the train set that follows another must run faster when approaching the train set in front. This paper focuses on the method of completing soft coupling within finite time. We show that such a method can be proposed under the following set of preconditions: (1) infrastructure enabling the removal of the conservative safety concept of railway signalling called `brick wall' assumption, (2) simultaneous control of two train sets through a very secure wireless communications link, and (3) high-accuracy control of the deceleration of train sets.

著者

髙森 太郎 萬年 智介

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.142, no.6, pp.NL6_9-NL6_10, 2022-06-01 (Released:2022-06-01)

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

---

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

塩井 太介 宮下 充 渡辺 大貴 日下 佳祐 伊東 淳一 中西 俊貴 小林 和博

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.141, no.7, pp.520-531, 2021-07-01 (Released:2021-07-01)

参考文献数

30

---

This paper proposes a multiport converter based on a flying capacitor converter topology for use in a battery management system. The proposed circuit operates in discontinuous current mode and pulse frequency modulation in order to reduce inductor volume. The circuit achieves load fluctuation compensation and maximum power point tracking of the photovoltaic (PV) system by deciding duty ratio based on load current and PV output current. According to the experimental results, an efficiency of more than 95.8% was achieved under all operation conditions. In addition, the maximum efficiency reached 98.8% at the rated load (750W). Furthermore, the inductor volume reduced by 85.5% compared to that of the conventional circuit using two inductors.

著者

塩井 太介 熊谷 崇宏 日下 佳祐 伊東 淳一

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.142, no.3, pp.198-205, 2022-03-01 (Released:2022-03-01)

参考文献数

31

---

This paper proposes a low vibration stopping method by switching between the free-run and short-circuit braking modes of a compressor. Vibrations are generated by the bouncing of the rotor caused by load torque fluctuations. The proposed method suppresses the bouncing by stopping the motor during the suction process, thereby preventing the generation of a large torque. In order to stop the motor during the suction process, the proposed method switches from the free-run to short-circuit braking mode at the top dead center, which is the starting point of the suction process. Furthermore, the inrush current during the short-circuit braking mode is suppressed using a hysteresis current controller. The vibrations are evaluated under four pressure conditions using the conventional and proposed methods. The results show that, the proposed method achieves more than 50% reduction in the amplitudes of the vibrations at all four pressure conditions. Notably, the proposed method reduces the amplitude of the vibration by 71% under the high-pressure condition.

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.142, no.3, pp.NL3_20, 2022-03-01 (Released:2022-03-01)

著者

藤原 俊輔

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) (ISSN:09136339)

巻号頁・発行日

vol.108, no.5, pp.439-446, 1988-05-20 (Released:2008-12-19)

参考文献数

9

被引用文献数

4 5

著者

川原 敬治 持永 芳文 前川 千明 佐藤 重勝

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) (ISSN:09136339)

巻号頁・発行日

vol.120, no.1, pp.96-103, 2000-01-01 (Released:2008-12-19)

参考文献数

9

---

Railway structures and traction substations suffered much damage by the Large-Magnitude Hanshin-Awaji Earthquake in 1995. In electric railway substations, structures were cracked, also a number of pieces of equipment such as transformers and silicon rectifiers were damaged, insulation oil leaked, base anchorbolts were cut, and high-voltage equipment supports inclined, and insulators cracked because of crack in the ground and uneven subsidence. This report describes the survey results of damaged traction substations and explains an earthquake-proof design method for traction substation equipment.We surveyed natural frequencies of traction substations equipment below 170kV. This survey showed that natural frequencies of equipment below 170kV were in relatively high frequency area (about 10-20Hz) than those of equipment above 170kV. As the real dominant frequency of earthquake is several Hz, these equipments rarely cause resonance due to earthquake move, and moving responses are weak also.From the analysis of the gliding phenomena of heavy equipment, it is found that the horizontal acceleration is in the range of 0.4-0.6G. So anchorbolts should be protected from large bending moment. Definite plans are using longer anchor-sockets, stuffing gaps between equipment and base and removing anti-vibration rubber plates.

著者

清水 修 花房 一義 新崎 晃大 郡司 大輔 酒井 優人 池田 広盛 松岡 史倫

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.142, no.2, pp.146-154, 2022-02-01 (Released:2022-02-01)

参考文献数

22

---

Laborsaving is a major issue in production. In an automotive production line, a yard that is used as a temporary storage for vehicles before shipping. The vehicle-loading robot that operates autonomously has been proposed to automate the alignment of vehicles in the yard instead of human driving. In this study, the dynamic wireless power transfer system that includes the structure of the roadside for the vehicle-loaded robot is proposed. It is proven that the transmitter coil has enough durability for the load of the robot weight using simulation and actual measurement. It is also shown that the reinforcement bars of the road structure cause considerable eddy current loss even with stainless steel. This is similar to loss by coil resistance. This system achieves a 1.8kW dynamic wireless power transfer with an automated coil detection system and a frequency control system, under factory conditions.

著者

三好 将仁 金丸 誠 安原 裕登 宮内 俊彦

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.142, no.2, pp.119-124, 2022-02-01 (Released:2022-02-01)

参考文献数

17

---

Feature values of the current are rapidly becoming online indicators of faults in motors and load equipment. Diagnosis by analysis of the stator currents is called motor current signature analysis (MCSA). Compared with vibration analysis, this method can be applied without sensors, and additional long wiring. MCSA detects incidents peculiar to motors, such as bearing failures and rotor bar faults, before breakdown. In this study, we introduce relationships between the failures and current features. The MCSA sometimes has difficulty in identifying anomalies and there is the possibility of false-positive results; hence, we propose some solutions to these problems.

著者

松原 壱樹 和田 圭二 鈴木 敬久

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.142, no.2, pp.95-103, 2022-02-01 (Released:2022-02-01)

参考文献数

41

---

There has been an increasing interest in biological effects owing to magnetic field exposure, because wireless power transfer systems for electric vehicles are expected to be widespread in the 85kHz band. Therefore, it is necessary to develop a magnetic field generator and evaluate the biological effects through experimental verification. In particular, the exposure area needs to be expanded for the development of magnetic field generators to offer sufficient number of exposure subjects. This paper presents the design procedure of a two-winding inductor for expanding the exposure area of a magnetic field generator. Two-winding inductors connected in series and in parallel are shown, and circuit configurations using these inductors are presented. It is revealed through impedance analysis that the difference in circuit parameters restricts the operable frequency band in a magnetic field generator with a two-winding inductor connected in parallel. The two-winding inductor connected in parallel can expand the exposure area to 321% of that of a conventional magnetic field generator. Moreover, the validity of impedance analysis is confirmed through the experimental verification rated at 100V.

著者

稲原 大翔 元井 直樹

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.142, no.2, pp.86-94, 2022-02-01 (Released:2022-02-01)

参考文献数

27

---

This paper proposes a search algorithm using particle swarm optimization (PSO) with virtual pheromone for swarm robots. Swarm robots are attracting attention in disaster relief works to search for victims. The search algorithm involves a combination of global and local searching. The conventional search method consists of random walk as the global search and PSO as the local search. However, random walk is not efficient in complex environments. For efficient searching, PSO with virtual pheromone is used for the global search. The virtual pheromone drives the swarm robots to an unsearched area, dose not need map data, and has low calculation cost. In addition, it is not necessary in the proposed method to switch algorithms between global and local searching. The validity of the proposed method was confirmed from the simulation results.

著者

西井 勇輝 矢代 大祐 弓場井 一裕 駒田 諭

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.142, no.2, pp.76-85, 2022-02-01 (Released:2022-02-01)

参考文献数

15

被引用文献数

1

---

Contact-force control of propeller-driven systems achieves aerial tasks that require contact motions with objects. Conventional contact-force controllers for propeller-driven systems utilize a contact-force feedback controller. Although the feedback gain should be high to achieve high target tracking performance, a high gain causes a large overshoot. This paper therefore proposes a novel contact-force controller which utilizes an airframe's velocity and an airframe's acceleration. An estimated acceleration and an estimated velocity of the airframe are fed back to the contact-force controller. A rotor angular velocity is utilized to estimate the acceleration. The validity of the proposed controller is verified through frequency analysis, simulation, and experiment.

著者

藤原 俊輔 藤本 健

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) (ISSN:09136339)

巻号頁・発行日

vol.112, no.5, pp.459-466, 1992-05-20 (Released:2008-12-19)

参考文献数

6

被引用文献数

4 5

---

There is a levitation method which uses 8-shape levitation coils arranged on the vertical surface of the guideway. These coils can act as a guidance means as well as the levitation means. The characteristics of this system is examined using numerical examples and experimental data. The cables connecting right and left coils are not connected to a high voltage power source unlike the usual guidance system which is combined with propulsion. Thus the electric insulation of the cables is now not a problem. Numerical examples show that the levitation characteristics of the combined levitation and guidance system is almost the same as in the system without the guidance function, and that it atains reduced running resistance with necessary guidance stiffness obtained. Test run was done at Miyazaki Test Line equipped with coils of this type arranged about 120m, and the results show stable running and balanced displacement which agrees with calculated value.

著者

茂木 進一

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.142, no.2, pp.135-145, 2022-02-01 (Released:2022-02-01)

参考文献数

28

---

Three-phase voltage-fed inverters are used for numerous applications, such as HEVs, EVs. These inverter systems require further improvements in terms of conversion efficiency, cost, size and reliability. On the other hand, dual inverter systems for open-winding motors are garnering attention. This paper, proposes application of pulse-voltage-injection two-phase pulse width modulation (PWM) scheme to dual inverter systems that drive open-winding motors. From the simulated results, it is confirmed that the voltages and currents in the open-winding motor are of higher quality than those in the conventional three-phase PWM scheme or the reference-shift two-phase PWM scheme.

著者

七澤 風画 芳賀 仁

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.142, no.2, pp.125-134, 2022-02-01 (Released:2022-02-01)

参考文献数

12

---

This study proposes a control method for a dual inverter to extend the output speed range of an interior permanent magnet synchronous motor with open-ended windings. The secondary inverter with a floating capacitor for the dual inverter supplies reactive power to the motor. In the proposed method, the reactive power required to drive the motor is calculated using an inductive voltage-limiting ellipse, and the d-axis current reference value and output voltage of the secondary inverter are determined. In the proposed control method, the primary inverter of the dual inverter supplies the effective power to the motor to expand the output speed range. The experimental results indicate that the output speed range is significantly improved and the constant torque region is expanded by approximately 41% compared with that in the conventional method.