{"created":"2023-07-25T10:27:46.998506+00:00","id":507,"links":{},"metadata":{"_buckets":{"deposit":"62ddd60c-69ef-4bbf-ab85-5a8898950f86"},"_deposit":{"created_by":2,"id":"507","owners":[2],"pid":{"revision_id":0,"type":"depid","value":"507"},"status":"published"},"_oai":{"id":"oai:it-hiroshima.repo.nii.ac.jp:00000507","sets":["1:17:203"]},"author_link":["2220","2221","2222","2223"],"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1989","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"154","bibliographicPageStart":"145","bibliographicVolumeNumber":"23","bibliographic_titles":[{"bibliographic_title":"広島工業大学研究紀要"}]}]},"item_10002_description_19":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"The simultaneously controlled effects of both the rotational position θ(t) and the transverse vibration y (t) in a flexible arm system have been compared between the LQ control law based on a distributed-parameter modeling method and other control laws beginning with a VSS with sliding modes. The experimental system consists of a DC servo-motor directly driving the elastic arm (332 X 25 X 1 mm3) with its concentrated mass (m = 0.089 kg), A/D and D/A converters, and the μ-computer PC9801vm21 which is mainly utilized for constructing a dyanmic compensator including an output feedback type observer. In case of applying the LQ method as the control law, satisfactory simultaneous controllability of θ and y can be obtained for the optimal state feedback gain Kopt= [11.9718, 0.806421, -63.2757, -26.6940], while in a direct feedback system and a relay control one, the simulataneous controllability is not so good as in the optimaｌ system designed by the LQ method. In a 2-strucure-type VSS and the VSS with sliding modes, however, the good controllability, the effect of which is comparable to that of the LQ method, is obtainable, when the control parameters are optimally set. The CPU execution speed especially enhanced by micro-processor i8087 can be reduced to 3.4 msec in using the C language, the computing time by which is about 50 times as short as that in the BASIC language.","subitem_description_type":"Abstract"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"広島工業大学"}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN0021271X","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"03851672","subitem_source_identifier_type":"ISSN"}]},"item_10002_version_type_20":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"川辺, 尚志"},{"creatorName":"カワベ, ヒサシ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2220","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"吉田, 和信"},{"creatorName":"ヨシダ, カズノブ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2221","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kawabe, Hisashi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2222","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Yoshida, Kazunobu","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2223","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2023-03-30"}],"displaytype":"detail","filename":"kenkyukiyo23145.pdf","filesize":[{"value":"1.4 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"kenkyukiyo23145.pdf","url":"https://it-hiroshima.repo.nii.ac.jp/record/507/files/kenkyukiyo23145.pdf"},"version_id":"dec0e109-29bd-4e67-853c-5adb894a3774"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"simultaneous control","subitem_subject_scheme":"Other"},{"subitem_subject":"active control","subitem_subject_scheme":"Other"},{"subitem_subject":"LQ control","subitem_subject_scheme":"Other"},{"subitem_subject":"distributed-parameter system","subitem_subject_scheme":"Other"},{"subitem_subject":"VSS","subitem_subject_scheme":"Other"},{"subitem_subject":"sliding mode","subitem_subject_scheme":"Other"},{"subitem_subject":"relay control","subitem_subject_scheme":"Other"},{"subitem_subject":"direct feedback control","subitem_subject_scheme":"Other"},{"subitem_subject":"dynamic compensator","subitem_subject_scheme":"Other"},{"subitem_subject":"optimal feedback gain.","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"ロボットにおける振動と能動的制御(Ⅱ) : フレキシブル・ア-ムにおける各種制御則効果の比較","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"ロボットにおける振動と能動的制御(Ⅱ) : フレキシブル・ア-ムにおける各種制御則効果の比較"},{"subitem_title":"Vibration and Active Control of Robotics (II) : A Comparison of the Controlled Effects by Various Control Laws in a Flexible Arm System","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"2","path":["203"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-30"},"publish_date":"2023-03-30","publish_status":"0","recid":"507","relation_version_is_last":true,"title":["ロボットにおける振動と能動的制御(Ⅱ) : フレキシブル・ア-ムにおける各種制御則効果の比較"],"weko_creator_id":"2","weko_shared_id":-1},"updated":"2023-07-25T10:48:00.497626+00:00"}