GFェ コ
Contents
1.2.
3. 1
4. 2 3
5. CPU
6. 2 2 12 5 m AC 125S 2 1 2 1
7. CPU STFC 4 3 STEC
8. PID 7 9
9. 6 2 2 1 3K
10. 9 E T9 r3 119 AX I Xu X
11. 5 35 2430 amp 515
12. eao5 1 if then BATAVA
13. 3 STFC ic
14. 1 2 3
15. STFC STFC 1 STEC
16. H HH f ARBIRE 939 i
17. 3 4 5 C
18. 29139 033 2 1 1 9
19. 4 9
20. 3 5 STFC 3 6 STFC 3 4 3 3 4 2 3 2 c STFC
21. 69 DD
22. 6 n Dil LITER 3 STFC 2 2
23. STFC 3 7 7 ife is D thene is W 3 11 Y u 00W a Y u n 6 e W_ e n 3 12 3 NM NS Z0 PS PM PB 44 input signal M 3 77 3 5 2
24. STFC 4 7 4 8 4 8 STFC Working E preeMeeeeeEMee Mxe ej radius error 0 50 100 150 200 0 50 100 150 200 Time s Time s Lifting height cm 250 Working radius error cm Lifting height cm Working radius error cm a Responses of working platform a Responses of working platform n 360 350 340 Working radius cm Working radius cm i 0 250 500 750 1000 0 250 500 750 1000 Lifting height cm Lifting height cm b Locus of working platform b Locus of working platform 4 3 Pr 4 4 a N amp edixoIzvcBbo0 TAT AMFMORENK S BAC TIEFI
25. 1991 1 1 50 b
26. STFC STFC EE PE Pr erm r rE IRaB f GtEeEEH HtktELLASLLLLU UULILLUGIAA PLELL AAGAMGANMNG ems otc r Pepnmnnhnrh 1r 1 T1 1 l1 T1 171 11 1 LET E LZLZVZLRZ A H 9 a i 4 4 1
27. 1 2 2 3 PI 3 1 5 1 1 3 1 4
28. alil 4 r 1 1 3 1997 2 2 ATI HERD IJ 1997 3 8 1997 4 4 1992 5 8 1996 6 1989 7 1991 8 1988 9 FE Vol 28 No 4 pp100 106 1997 10 1982 11
29. 670 10 1990 69 5 2020 59 5 1996 15 1 2020 26 9 2 1977
30. 4 4 1 2 3 4 2 1 maximum lifting hight 12 5 m maximum working radius 8 2 m maximum load on platform 800 kg boom telescoping 4 88 m 10 76 m 27 sec Sig ig 3 operating speed TI Tem total length 5 15 m machine size 2 48 m zom 2 1 2 2
31. 55 5 1 B 5
32. 6 E tmt m 4 m zm Md z q 1998 3 5 A d QNT REC EM XC S TURPE 1 BIS EMEN E Li scaneesnsaiciimict cime EE E DL tain ti 6 aae bas ctum ERT RE NR A EI PER tA 6 eke o ettar Ren a uti Tas e a a Eia M2 LUE ovk Nae 7 um s olio de e reo Pers agerem reset 12 A indi pe CR NN EN io 13 3 uuu auuuuuuuuu aunuuuasaaraaanaee 20 a A CUM I 20 23 JO3 aede iio IP OEE STIL S Te TORE BOITE PE A 24 Ens De 25 12 8 Te 25 ES LONE Ir dO ero aeree ertet ie Np deRemate ion Qo rg don or i hf ic 27 34 qum coca opti ee 29 EE 29 TRAE Syr MEIBNMME Ena aa ood di dite 31 CT EU a Ep d ES LETT n ONT MORS 31 TER Maia a i iani 31 BAS METODI UIS TOS E a EENES le Ay 33
33. 4 1 2 5 12 10 s C 5 12 a 3 5 12 b y yy yy 900 z 1 measured and fuzzy F 800 Le model 0 5 amp t 3 9 X o amp 700 o 9 r 8 E amp Oo m 600 058 500 1 0 5 10 15 20 Time s a Telescoping Boom angle deg Input spool stroke cm 0 5 10 15 20 Time s b Elevation d 5 12 2
34. M
35. 4 2 3 L 02
36. Mamdani Mamdani 187 122 Mamdani Mamdani 3 1 X 3 3 if X is A and yijs then Zis C 3 1 if xisA and yisB then z ax by c 3 2 if XisA and yis B then zc 3 3 z 4 pF 3 1 Mamdani 3 2
37. C Vol 60 No 572 pp 1262 1269 1994 152 C Vol 60 No 572 pp 1270 1277 1994 153 1994 154 Vol4 No5 pp906 908 1992 155 Vol4 No4 pp722 7322 1992 156 C Vol 58 No 554 pp 2997 3002 1992 157
38. Telescoping length cm Spool stroke cm 2 6 2 8 Elevation angle deg 988 cm 0 20 40 60 80 0 20 40 60 Elevation angle deg Time s 2 7 2 9 B E o pP dL E 8 o gt A 8 0 0 5 1 1 5 2 2 5 3 0 0 5 1 1 5 2 2 5 3 Time s Time s a long boom and high elevation angle situation 680 40 ee B 30 amp d 640 20 E 2 620 5 10 2 8 600 0 E E 580 10 U 03 A i56 bw a wd X 3 Time s Time s b short boom and high elevation angle situation 40 T A B 30 g S D z 8 20 amp gt amp 2 10 8 S o w 0 10 0 0 5 1 1 5 2 25 3 0 0 5 1 1 5 2 2 5 3 Time s Time s c long boom and low elevation angle situation 680 40 B 660 B 30 e 640 t 20 amp p amp 620 9 10 2 8 S 600 0 580 10 0 0 5 1 1 5 2 2 5 3 0 0 5 1 1 5 2 2 5 3 Time s Time s d short boom and low elevation angle situa
39. 99 21 72
40. Self Tuning Fuzzy Controller STFC ic STFC 2
41. 5 6 5 7 y WO 9 2 jj ij j y t Eu 5 3 un Q ui Qu ui 5 4 uf 0 u KOREADA uA y 0 y 0 7v F C5 S d input signal a Membership functions for referense of flow control valve S B ur 4 J gt u 1 0 1 lt input signal 9 b Membership functions for position of each axis 5 6 5 7 4 5 41 yy
42. x 1 7
43. Queen Mary amp Westfield University Mamdani 1974 915 1982 EE L Smidth 116 o pm 321
44. 7 5 1994 10 3 SUB 1019 1995 5 4 233 1995 8 5 SM 7 3 1995 11 6 675 1996 3 7 Sim AXE 3031 1996 5 8 Sm RESP
45. P I 5 1 1 4 CLA
46. Ed 3 18 b 3 19 b STFC 64 Ca e 3 20 STFC STFC STFC STFEC STFC STFC STFC 3 21 Ed 3 22
47. k 4 4 3
48. 3 14 1 8 f 20 sec 0 21 m 26 sec 0 21 m
49. PI 2 4 15 Working radius error cm Working radius cm Ed 4 11 Lifting height M E EE conie ipee cime ciento Lifting height cm 0 50 100 150 200 Time s a Responses of working platform 0 250 500 750 1000 Lifting height cm b Locus of working platform Lifting height cm N t2 N CA l t3 A e Ny G2 0 50 100 150 200 Time s a Responses of working platform backward forward a i Eo N A eecococsososeocttaasccccoccunasscodinocseosnaccaseocoenas dcsosesencsscccceces 400 Position of Z direction cm t2 CA N w e 200 0 200 400 Position of Y direction cm b Locus
50. 13 WEA3 3 1997 6 1 2 3 7 4
51. 132 3 if then
52. 2 10 2 13 4
53. 2 3 23 3 2 1
54. 2 3 STFC 4
55. 27 8 1996 41 0 3 27 6 42 4 3
56. acceleration at 540cm Consequence eenccdeceancccvenelnonsacnaocon PM PB Working radius error cm 47 STFC 45 STFC ES e s z E ja bb z P z mds 0 50 un B 150 200 4 8 ime s 4 6 4 3 4 3 1
57. PB 3 6 STFC 2 2 STFC STFC 1
58. 1 S Noguchi K Kagamihara S Isono T Kamano T Suzuki T Yasuno High Performance Control of Construction Machine using Self Tuning Fuzzy Technique Japan U S A Symposium on Flexible Automation A Pacific Rim Conference pp379 382 Boston U S A 1996 7 2 6 225 1996 10 3 13 WEA3 3 1997 6 4 34 1998 3 3 1 211M 1 1994 7 2
59. D 919 3 4 9 ikd jic
60. 3B STFC LC 1 2
61. GUI Graphical User Interface A 3
62. 2 3 Self Tuning Fuzzy Controller 2 lt
63. STFC 2 C XI Im CPU 3 4 STFC STFC 5 STFC
64. STFC 1 2
65. 3 2 3 Self Tuning Fuzzy Controller 3 2 a PI STFC y v o y k e PI e
66. 3 23 3 21 3 22 15 750 10 T 650 E S E 9 e 8 5 8 550 p E S 450 0 m 450 350 5 350 40 60 80 0 20 40 60 Time s Time s a Reference and actual positions and error signal 0 5 8 g B 03 3 E E amp 0 1 0 1 DL 0 1 B d Iz E o 0 3 3 A 0 3 e 9 e E 0 5 5R E 0 5 Uu 0 7 0 7 0 20 40 60 Time s b Control signals b Control signals 3 17 STFC 3 18 STFC Error signal cm a Reference and actual positions and error signal PI control signal cm Position cm 0 20 40 60 Time s Error signal cm a Reference and actual positions and error signal 0 5 E 5 0 3 9 T T E 0 1 amp 2 0 1 8 8 5 03 Ta Q 9 HE E 0 5 0 05 8 T A 0 7 0 20 40 60 80 Time s i b Control signals 3 19 STFC f 1 0x10 1 without error input STFC S s 1 0x104 FP Noms deut i i L5 H S 10x10 with 20 input STFC _ E 8 o io t a j z Wki with error inputiSTFC amp velocity fuzzy c
67. 5 1 ef e6 Self Tuning Fuzzy Estimator Aerial working platform nOD y I _ Parameter tuning 55 5 3 2 if u f is A and y f is B and y t is C8 then 31 t is Wy 0 if u t is A and y 1 is Bf and y t is CZ then 25 1 is WL t if u t is A and y I is BE and y t is CZ then 2 1 is WA 1 5 2 if u 1 is A and y f is BY and y t is CZ then 52 0 is WA 1 S Ws AT BI 9 C C 2 NB Negative Big PB Positive Big 7 S Small B Big 2
68. 2 3 4 PI 37 40 49 18 30
69. Vol 2 No 3 pp 429 437 1989 120 7 pp 269 273 1991 121 6 8 pp 26 88 1992 122 7 3 9 pp 313 316 1993 123 3 5 pp 499 504 1989 124 C Psaltis et al A Multilayered Neural Network Controller JEEE Control Systems Magagine Vol 8 No 2 pp 17 21 1988 125 Vol 35 No 1 pp 2 10 1991 126 M Jordan Supervised Learning and Syst
70. 21 54 1996 6 9 HE 3 105D 1 1996 7 10 HE 1 93 1996 7 11 G3 46 1996 11 12 G3 24 1996 11 13 HE 678 1997 3 14
71. 3 2 c Hydraulic Actuator 3 2 a STFC STFC 73 u Hydraulic y Actuator 3 2 b STFC 28 u Hydraulic J Actuator 3 2 c 3 4 341 STFC 3 3 Wi 3 4 if V is and Qj is B and e is C then e is w e e A B C 3 4 NB Negative Big PB Positive Bis Wi STFC e 3 5
72. LT 5 13 Bd 5 13 a 5 13 b yy y yy Boom length cm Input spool stroke cm 0 50 100 150 200 Time s a Telescoping measured Boom angle deg Input spool stroke cm 0 50 100 150 200 Time s b Elevation 5 13 5 5
73. 2 6 V cm s deg s 2 7 2 6 2 7 2 8 2 9 2 10 2 13 2 8 2 9 2 8 2 9
74. PI T 37 40 dE 4 5 STFC 485 etre or Prirrib gRgRRREEEkEELLR AGZELEAIEOIO L LLLULELLLLEO OLELAXNI Aarieoe orrwnkssceooesseaeeE Ee DRRBU DZSNNNNRRDDO ND 4 6 STFC 4 7 STFC 540 cm 813 cm
75. b
76. 3 17 3 19 3 17 4 3 18 a STFC 3 17 b 3 18 b STFC e 6 4 STFC e STFC 3 1 STFC STFC 3 18 a 3 19 a STFC
77. Vol22 No 3 pp 341 347 1991 74 C Vol 57 No 535 pp 840 847 1991 75 Vol 24 No l pp 130 137 1993 76 F C Vol 60 No 569 pp 190 197 1994 77 Vol 27 No 9 pp 996 1001 1991 78 Z Iwai I Mizumoto and M Deng A Parallel Feedforward Compensator Virtually Realizing Almost Strictly Positive Real Plant in Proc of the 33rd IEEE Conf on Decision and Control pp 2827 1994 79 SAC C Vol61 No 590 pp 187 191 1995 80
78. 33 55 52 STFC 1 REALTA STFC tt CPU 2
79. Vol 24 No 2 pp 191 197 1988 35 pp 177 182 1989 36 Vol 2 No 4 pp 585 597 1990 37 6 Vo1 29 No 7 pp 826 832 1993 38 Vol1 27 No 2 pp 208 215 1991 39 AR 7 pp 489 492 1991 40 H Nomura I Hayashi and N Wakami A Self tuning Method of Fuzzy Con trol by Descent Method Proceedings of IFSA 91 pp 155 158 1991 41 H Ichihashi iterative Fuzzy Modeling and Hierarchical Network Proceed ings of IFSA 91 pp 49 52
80. Vol 25 No 7 pp 771 1989 5 143 Bb Vol21 No 3 pp 298 1985 144 C Vol 53 No492 pp 1711 1987 145 Engineering Review No 7 pp 12 16 1990 146 EFE 1 Engineering Review No 8 pp 19 22 1990 147 2 Engineering Review No 11 pp 15 18 1991 148 S Iida etal Dynamic Simulation and Analysis System for Electro Hydrau lic Circuit SAE Technical Paper 921688 1992 149 33381 Engineering Review No 13 pp 25 30 1992 150 354281 Engineering Review No 16 pp 30 37 1993 104 151
81. 2 2 8 3 4 2 2 3 4 2 1 2 2 3 5 if V is and is thene is W and if V is A and e is C then amp is W and 3 7 if is B and is C then ex is Wp C X1 3 X T2147 e u MW 0 mzij ik jk Yu Q 3 8 e n ye n 2 xm 12 e
82. luneu mu mw Q2 e n Dui mh mu Cn Is 29 LL ui dio ual WW W n l Ye Mhu mL mu n Wn 3 6 y gt 0y gt 0 3 4 7 7 3 73 343 ap p iga cJ 3 4 3 6 3 4
83. Vol 10 No 7 pp 983 989 1992 81 C Vol 59 No 563 pp 2152 2156 1993 82 RE 1 Vol 25 No l pp 113 117 1994 83 2 Vol 25 No 6 pp 94 100 1994 84 Vol 25 No 6 pp 746 752 1994 85 C Vol 61 No 585 pp 1981 1986 1995 86 2 Vol 12 No 3 pp 466 473 1994 FA B6 87
84. STFC STFC HE 4 4 4 6 STFC 739 a n X A M amp MM SPBBBOCCOSSSSBSBIS ccPrr TIT 5 IP T T1 T1 T 111111111 T11 111ZF 4 3 5
85. Vol 32 No 5 pp 706 713 1996 66 Vol 32 No 4 pp 495 501 1996 67 Vol 27 No 4 1996 68 Vol 32 No 7 No 8 1993 2 69 1993 1995 1994 70 Super Deck AC 125S AC 125S 1 0 94 4 253 10 81 819 A 1994 71 Super Deck AC 125S AC 125S 1 O1 1J 1994 3 72 M Vol 21 No 7 pp 688 695 1990 73
86. 2 2 l 50 3 Jg 4 7 cos 0 Q constant 4 8 7sin z 4 9 Yo tan 9 X lcos0 4 10 cos Q tan sin b Horizontal movement 4 9 61 4 7 4 10 4 3 2 4 10 Vs m vvv Vio vj vg vo 7 6 e 0 Vig F Vy 4 11 cos sin cos0cosQ sinO sin sin sin cos cos 7 l 4 12 COS Sm l cos lcos z L
87. 3 15 3 16 750 Position cm QN e e 8 8 CA CA 8 Time s a Reference and actual positions Error signal cm Control signals cm Time s b Control and error signals 3 8 STFC 750 A oN S Position cm 550 Time s a Reference and actual positions Error signal cm Time s Control signals cm b Control and error signals 3 9 STFC v Position cm Position cm 0 20 40 60 80 Time s Time s a Reference and actual positions a Reference and actual positions Error signal cm Control signals cm Error signal cm Control signals cm 0 20 40 60 80 Time s b Control and error signals 3 10 STFC b Control and error signals 3 11 STFEC Position cm Time s a Reference and
88. Vol 33 No 10 pp 1002 1009 1997 103 1989 104 9th Symposuim on Fluid Control pp 13 18 1994 105 C Vol 62 No 593 pp 161 167 1996 106 I 6 pp 201 204 1990 107 7 pp 283 286 1991 108 7 pp 255 258 1991 109 fk 9 pp 41 44 1993 110 Vol 6 No
89. 3 4 9 p x 9 7 9 4 9 x z xo Yo Zo gt
90. 3 Vol 26 No 7 pp 896 902 1995 88 C Vol 61 No 589 pp 3559 3566 1995 89 H 6 Vol 28 No l pp 99 107 1997 90 3 pp133 136 1993 91 K Sanada A Kitagawa and W Pingdong An Application of a Neural Net work to Adaptive Control of a Servo System Proc 2nd JHPS Int Symp on Fluid Power ed T Maeda pp 303 308 E amp FN SPON 1993 92 C Vol 60 No 570 pp 569 576 1994 93 pp 31 47 1994 94 XT
91. Vol 10 No 4 pp 433 438 1992 135 S Arimoto F Miyazaki and S Kawamura Cooperative Motion Control of Multiple Robot Arms or Fingers Proc of the 1987 IEEE Int Conf on Robot ics and Automation pp 1407 1412 1987 136 Y Nakamura K Nagai and T Yoshikawa Mechanics of Coodinative Ma nipulation by Multiple Robotic Mechanisms Proc of the 1987 IEEE Int Conf on Robotics and Automation pp 991 998 1987 137 ETF pp 144 151 1987 138 P Hsu Z Li and S Sastry On Grasping and Coodinated Manipulation by a Multifingered Robot Hand Proc of the 1988 IEEE Int Conf on Robotics and Automation pp 384 389 1988 139 3p Vol 3 No 10 pp 326 334 1990 140 Vol 10 No 4 pp 439 443 1992 141 29 2022 1996 142
92. Genetic Algorithm 3 4 65 329 3 1 a c GA GA 3 3 3 2 1 3 2 2
93. b e di mt 2 3 M CU row 2 4 b a gt akut D EN Ed 2 3 2 5 12 A D CPU80486 NDP80487 12 D A 25 msec proportional control valve amps Computer 1486DX2 S0MHz 2 5 2 4
94. Vol 113 C No 7 pp 495 501 1993 158 Vol 8 No l pp47 56 1996 159 Vol 28 No 7 pp785 791 1997 105 160 C Vol 117 C No 11 pp1573 1579 1997 161 J M Nightingale 1960 1 1 EH Vol 28 No 7 pp785 791 1997 11 2 SE C Vol 117 C No 11 pp1573 1579 1997 11 3 SEE
95. Vol 25 No 5 pp 54 61 1986 24 1987 25 1991 26 Vol 6 No 6 1988 27 Vol 9 No 2 1991 28 Vol 11 No 1 1993 29 No 7 1993 C Vol 113 C 30 D Vol 113 D No 1 1993 31 Vo1 38 No 11 pp 585 624 1994 32 J Fukumi T Kamano T Suzuki and Y Kataoka Positioning System with Progressive Wave Type Ultrasonic Motor under Self Tuning Fuzzy Control Journal of Robotics and Mechatronics Vol 7 No 1 pp 63 68 1995 33 Vol 20 No 8 pp 720 726 1984 34
96. y t y 2 5 8 a b 5 9 a b 1S s 30 s ADES y y Ob DI y y telescoping axis 900 g g 800 3 z 8 600 58 4 measured 5 500 0 10 20 30 input signal Time s 7 a Early stage of tuning E 900 i 5 4 g tg 800 9 Sons
97. E H j 4 600 2 1 dn 4 Time s 2 b After tuning 15 8 81 y 5 10 a b 50 Boom angle deg Input spool stroke cm Time s a Early stage of tuni
98. F Wa STFC X STFC gt a e T STFC 3 2 b
99. ei c long boom and low elevation angle situation Velocity cm s TRAN VIN p 2 9 j k LU LD SU SD 4 y y 3 1 5 4 d short boom and Manin Pi angle situation 5 1 Velocity cm s 0 0 5 1 1 5 2 Z5 3 2 Velocity cm s al Time s s d i aA g 1 Time s c long boom and low elevation angle situation Velocity cm s 0 0 5 1 1 5 2 2 5 3 Time s d short boom and low elevation angle situation 5 2 74 Velocity deg s 0 0 5 1 1 5 2 2 5 3 Time s a long boom and high elevation angle situation Velocity deg s 0 0 5 1 1 5 2 2 5 3 Time s b short boom and high elevation angle situation Velocity deg s 0 0 5 1 1 5 2 2 5 3 Time s
100. 3 3 Mamdani Mamdani 3 3 2 2 3 1
101. WM W7 ij W Y uiw aS H n L e amp 4 5 6 n Ye 0 4 6 4 414 4 3 PI 4 4
102. 1992 12 L A Zadeh Fuzzy Sets Information and Control Vol 8 pp 338 353 1965 13 L A Zadeh Fuzzy Algorithms Information and Control Vol 12 pp 94 102 1968 14 L A Zadeh A Fuzzy Set Theoretic Interpretation of Linguistic Hedges Journal od Cybernetics Vol 2 pp 4 34 1972 15 L A Zadeh Outline of a New Approach to the Analysis of Complex Systems and Decision Processes IEEE Trans Systems Man and Cybernetics Vol SMC 3 No 1 pp 28 44 1973 16 L A Zadeh The Concept of a Linguistics Variable and its Application to Approximate Reasoning Part 1 Information Sciences Vol 8 pp 199 249 1975 17 L A Zadeh The Concept of a Linguistics Variable and its Application to Approximate Reasoning Part 2 Information Sciences Vol 8 pp 301 357 1975 18 L A Zadeh The Concept of a Linguistics Variable and its Application to Approximate Reasoning Part 3 Information Sciences Vol 9 pp 43 80 1976 19 Vol 18 No 2 pp 150 160 1979 20 Vol21 No 7 pp 139 145 1983 21 Vol 22 No 1 pp 84 86 1983 22 M Sugeno An Introductory Survey of Fuzzy Control Information Sciences Vol 36 pp 59 83 1985 23 Fuzzy
103. STFC STFC 3 2 1965 University of California Berkeley Zadeh DD
104. STFC 6 35 m 0 85 m 40 sec 3 8 3 13 k 0 01 0 0005 e PL STFC STFC e
105. 4 2 2 T 4 2 1 4 1 9 AR PI STFC 1 0 Vv vo O 0
106. 20 h 09 0
107. SB2 1 pp 423 426 1990 57 Vol 3 No 7 pp 208 215 1991 58 28 pp 32 45 1989 59 Vol 28 No 11 pp 499 504 1989 60 1986 61 1988 62 M Aicardi G Cannata and G Casalino Hybrid Learning Control Tech niques for the Manipulation of Rigid Objects in Proc of the 1993 IEEE Int Conf on Robotics and Automation pp 672 677 1993 63 M W Walker D Kim and J Dionise Adaptive Coordinated Motion Con troller of Two Manipulator Arms in Proc of the 1989 IEEE Int Conf on Robotics and Automation pp 1084 1090 1989 64 Y R Hu and A A Goldenberg An Adaptive Approach to Motion and Force Control of Multiple Coordinated Robot Arms in Proc of the 1989 IEEE Int Conf on Robotics and Automation pp 1091 1096 1989 65 Model Based
108. 9 4 2 423 and 3 i t 5 i if y is A then is W and 4 4 if is B then el isW a 1 0 rv W W7 4 BI I NB Negative Big PB Positive Big 54 e 4 4
109. 9 PI STFC 1 0 9 amp BUR KG IB Vj Vo Vo 05 015 0t 9 g 6 6 6 kois kpos kop HAFA X Ka kioski MRTN X eece 6cg PI ea Caos lap AMT y Z4 37 HU 717 ep 659 6e STEC 522 F O gt Telescoping t axis Elevation S e axis Sub Syste
110. 6 1 M E 2 3 4 5 6 D C Vol 117 C No 11 pp1573 1579 1997 11 2 W Vol 28 No 7 pp785 791 1997 11 LUE pra 1 S Noguchi K Kagamihara S Isono T Kamano T Suzuki T Yasuno High Performance Control of Construction Machine using Self Tuning Fuzzy Technique Japan U S A Symposium on Flexible Automation A Pacific Rim Conference pp379 382 Boston U S A 1996 7 6 223 1996 10
111. PR 4 2 4 H 79 Telescoping Elevation Cylinder Cylinder Counterbalance Valve Q p O g Electrohydraulic A Proportional lt Control Valve td Ew ies nma imm DN T m g 9 2 2 y m s LA Ts bhira om E z
112. a long boom and high elevation angle situation Velocity cm s 52 Velocity cm s 2 b short boom and high elevation angle situation Long Short Up Down 4 LU LD SU SD NEN LUE m amp 3XS CERE LHICBU S AJ uut D DATE yl y 3 1 d x UU ED
113. 6115 1997 5 15 E wF 108D 1 1997 7 16 1997 10 3
114. C Vol 58 No 555 pp 3285 3290 1992 95 Q Wang A Luo Y Lu Edited by T Maeda Intelligent control for electro propotional cylinder Fluid Power pp 309 313 1993 96 F Vol 27 No 4 pp 550 557 1996 97 Vol 28 No 10 pp 597 604 1984 98 Vol 30 No 10 pp 38 40 1987 99 GH 6 pp 219 222 1990 100 8 pp 85 88 1992 101 Vol 7 No 1 pp 19 34 1996 102 KA EH PID
115. c long boom and low elevation angle situation Velocity deg s 0 0 5 1 1 5 2 2 5 3 Time s d short boom and low elevation angle situation 5 3 15 Time s Uus d 15 3 25 Time s b short boom and high elevation angle situation HP model measured Velocity deg s 0 0 5 1 1 3 2 2 5 3 Time s 1 c long boom and low elevation angle situation Velocity deg s Time s d short boom and low elevation angle situation 5 4 76 1 RRC 4 1 5 3 5 3 1 5 5
116. 4 11 4 3 PI Pf 4 12 4 13 Pt 49 18 30 4 14
117. 1 6 6 ok 6 6 PI e STFC STEFC 4 2 2 dU umen me e M O MTelescoping V a decoupling fuzzy compensato
118. s 35 T A FOENT TE EE EN p E DIL Aou 48 Bw b PZE DECIR EDU a uu uuuuuuuunususseeaeeseeeeen 50 DAE 4o T PHH 50 4t ATEENAS Lu aee et tent tir ta ae stt ian ur 52 lt 52 4 52 425 BERERE 27 Eam SELL meridiei oiov vata ce 54 EE gia demia AE E O ER wm 55 43 XOJPIABC S ORNA AT Dunoan emit s iriri 60 RR E mee i pers 60 VE a PR Liege url A O Dr zoo reme 62 BO BNET e T EU M Lepsius den Bead ids tee roce 63 64 4309 ETR abroiieuHavbior aii arrarir yx fa eire P int rs 65 JE D oet DNUS CU REDE 70 re 71 me 71 SC E LS ite md hh Kv hd Mle a E LA RA ly a 72 AE EOOLA TESORO UOeiel T a EQ iiie tan Fio EVER De MEE Manet ores vimm reina 77 dna TM Pos rs ER qug 77 32503 RUNE DEORUM erret dottor RI Eu et E idit vn es 78 Au NGA ate ut trie Prem Meter ett eros P YO de WD e eremi a s Tyne or 80 RANG CELER renaet terteertroddant s E E Md ORA i FN 81 Xu 13 2 ZING PEE A Mp Pier Oh ha te memo par A adt 84 87 MESE dE BEL eren mire Mtm ca erneuert Mos o S 88 91 Ud A RI Tm RR 107 1 Diili
119. 1991 42 Vo1 5 No 2 pp 191 203 1993 43 PN as C Vol 9 No 564 pp 2290 2976 1993 44 Vol 5 No 2 pp 204 217 1993 45 ABER Vol32 No 3 pp 409 416 1996 46 C Karr L Freeman and D Meredith Improved Fuzzy Process Control of Spacecraft Autonomous Rendezvous Using a Genetic Algorithms SPIE Conf on Intelligent Control and Adaptive Systems pp 274 283 1989 47 C Karr Applying Genetics to Fuzzy Logic AI Expert Vol 6 No 2 pp 26 33 1991 48 C Karr Design of an Adaptive Fuzzy Logic Controller Using a Genetic Algorithm Intl Conf of Genetic Algorithm ICGA 91 pp 450 457 1991 49 C Karr and E Gentry A Genetics based Adaptive pH Fuzzy Logic Controller nt l Fuzzy Systems and Intelligent Control Conf IFSICC 92
120. actual positions 30 g 5 Q E E B ri E t o o l E 40 60 80 Time s b Control and error signals 3 12 STEC 750 700 B 650 2 600 O A 550 500 0 20 40 60 80 Time s a Reference and actual positions Error signal cm Control signals cm 0 20 40 60 80 Time s b Control and error signals 13 13 STFC E e 1 0x106 1 0x10 y 1 0x10 1 0x10 Mean square error cm 1 0x102 0 10 20 30 Period 3 14 STFC 600 Position cm 1 cm Error signa Time s 3 15 STFC Position cm Error signal cm 0 10 20 30 40 50 Time s 316 STFC 3 2 a Bd 3 2 b STFC STFC
121. n 3 4 2 2 3 6 if V is A then e is W and if is B then e is W and if e is C then 6 isW Xm 7 X 3221 2 6 3 10 XX CPU Lim LL Cn 3 10 e n e n e n 3 5 STFC 3 9
122. of working platform of vertical plane 430 Co CA Position of X direction cm A e 3 200 0 200 400 Position of Y direction cm c Locus of working platform of horizontal plane 4 12 PI Position of Y direction cm Lifting height ni PR c 250 A Lifting height cm J SUV ee fee cn an r 250 Y position 230 0 50 100 150 200 Time s a Responses of working platform 270 E 2 260 o D 8 250 N Qa Oo S 240 8 A 230 400 200 0 200 400 Position of Y direction cm b Locus of working platform of vertical plane 430 g S 415 ud 400 sesseccsonecose p PP backward 5 385 8 A 370 400 200 0 200 400 Position of Y direction cm c Locus of working platform of horizontal plane 4 13 68 8 Position of Y direction cm 1 0x107 1 0x106 1 0x10 1 0x10 Error cm lt 1 0x10 1 0x107 0 Horizontal direction 7 Vertical direction 10 20 Cycle 4 14 b shrink diredction 4 15 69 30 S OO A H f E t op r e E g g 4 4
123. pp 255 264 1992 50 C Karr S Sharma W Hatcher and T Harper Control of an Exothermic Chemical Reaction Using Fuzzy Logic and Genetic Algorithms nt l Fuzzy Systems and Intelligent Control Conf IFSICC 92 pp 246 254 1992 51 R R Yager 8 UA3 2 pp 237 240 1992 52 IIR Bl 8 UA3 2 pp 241 244 1992 53 GA D Vol 114 D No 10 pp 943 946 1994 54 A Homaifar E McCormick Simultaneous Design of Membership Functions and Rule Sets for Fuzzy Controllers Using Genetic Algorithms JEEE Trans on Fuzzy Systems Vol 3 No 2 pp 129 139 1995 55 GA C Vol 115 C No 11 pp 1265 1272 1995 56 B 6
124. 2 pp 402 408 1994 111 Al 10 pp 749 752 1994 112 BEES 3E Vol A pp 509 512 1995 113 C Vol 61 No 582 pp 540 548 1995 114 E H Mamdani l Applications of Fuzzy Algorithms for Control of Simple Dynamic Plant Proc of IEEE 121 12 pp 1585 1588 1974 115 E H Mamdani Advances in the Linguistic Synthesis of Fuzzy Controller Int J Man Machine Studies 8 6 pp 669 679 1976 116 Vol 3 No 2 pp 154 211 1991 118 PID 4 pp 97 102 1988 119
125. M 43 4 34 8 Time s Time s c long boom and low elevation angle situation 4 D u 4 en bt 9 deme B 4n 4b o or r0 3 SIT NS 3 P 32 B g E 5 CN M eo 5 E g 2 e m z 0 HIS eseeso et end ere t b 1 0 0 5 1 1 5 2 2 5 3 0 0 5 1 1 5 2 2 3 Time s Time s d short boom and low elevation angle situation 2 12 tA UA UA U eo N E Elevation angle deg A 56 UA A N ES tA e Elevation angle deg A oo Elevation angle deg Elevation angle deg Elevation angle velocity deg s 1 1 5 2 2 5 3 0 0 5 1 1 5 Time s Time s a long boom and high elevation angle situation Elevation angle velocity deg s 1 1 5 a 2 5 3 0 0 5 1 1 5 Time s Time s b short boom and high elevation angle situation p Elevation angle velocity deg s 1 1 5 2 2 5 3 0 0 5 1 1 5 Time s Time s c long boom and low elevation angle situation P eo Elevation angle velocity deg s 1 1 5 2 2 5 3 0 0 5 1 1 5 Time s Time s d short boom and low elevation angle situation 2 13 2 2 2 2 3 3 1
126. ems with Excess Degree of Freedom COINS Technical Report Vol 88 No 27 pp 1 41 1988 127 M Kawato et al A Hierarchical Neural network Model for Control and Learning of Voluntary Movement Biol Cybern Vol 57 pp 169 185 1987 128 Vol 5 No 2 pp 178 190 1993 4 129 Vol 9 No 6 pp 6 9 1995 130 E Vol 11 No l pp 165 170 1993 131 Vol 87 No 1 pp 38 1987 132 Vol 37 No 4 pp 45 48 1987 133 d Vol 23 No 5 pp 14 15 1992 134
127. m H Sub System La e Q Tr EET KAN Eco v apen zu 4 4 10 4 3 3 4 7 4 10 gt 6 9 Epo 4 13 4 17 2 2 Xo y qus 93 pe l M 2 e aec ee i E 4 14 up o IET Es 4 15 1 4 epa Bisin amp e 4 16 z a yot 3n xo a 1 suc 7cos9 i pn 9 7 9 0 4 13 4 17 4 3 4
128. ng 50 5 5 30 E Q e 1 1 g 20 28 2 8 5 10 0 6 amp 0 1 0 25 50 75 100 Time s b After tuning 5 9 82 Mean square error cm a Telescoping Mean square error deg b Elevation Bl5 10 5 42 5 11 Bd 5 11 a 15 s 3 s 5 11 b 50 s 10 s yy y 900 E 800 3S S V z 8 2 700 I 8 g al a measured K MSS and fuzzy Ru 8 model 1 500 0 2 5 5 7 5 10 Time s a Telescoping Booom angle deg Input spool stroke cm Time s b Elevation 11
129. ontroller 1 0 10 20 30 Period 3 20 46 0 2 A w o PEEN z i i Eis t isl accleleration o Self tuning parameters 0 6 NB NM NS ZO PS PM PB Label 3 21 STFC Self tuning parameters NB NM NS ZO PS PM PB Label 3 22 STFC Tuning parameters NB NM NS ZO PS PM PB Label 3 23 a STFC Cli 2 2 6 STFC PB
130. rs 9 ee Ca ai AT io qan e axis d Mer WW Co M eus Mes EP STFC 4 1 if O is C then is W ipe e sci 4 1 if is D and egg isW 79 6g e W W C 4 2 NB Negative Big PB Positive Big 2 Z W W e e 3 go pue EBEN Wa eg ezp Y uiw n e n 4 2 3 ui n Y usw n VI AL us 42 4 3 NB NM NS Z0 PS PM PB 1 A amp input signal
131. tion 2 10 16 e Telescopic velocity cm s e 30 40 50 0 0 3 1 1 5 2 2 5 3 0 0 5 1 1 5 2 2 5 3 Time s Time s a long boom and high elevation angle situation 610 10 F 590 a 8 570 E 3 8 amp 550 5 amp 530 R 8 9 510 490 KU GR pd 4 25 3 S NM 1o w 2 15 Time s Time s b short boom and high elevation angle situation 800 10 8 780 0 760 gl b E m a 740 P amp 720 1 30 8 8 700 40 680 50 s 05 qq 13 4 3 0 e i8 3 35 3 Time s Time s c long boom and low elevation angle situation Telescopic position cm Telescopic velocity cm s 0 0 5 1 1 5 2 2 5 3 0 0 5 1 1 5 2 2 5 3 Time s Time s d short boom and low elevation angle situation Eq 2 11 N E a 60 3 Q 3 E a 58 i 8 o g amp g 6 56 tb E v m 54 E 2 K 52 i bo Ti fs 25 a 4 D d dS M vin d Time s Time s a long boom and high elevation angle situation 62 4 dD 60 ha ll H catelli S E 2 58 E 2 o E 56 eb 1 an m5 1 0 petu itm S imei E 52 i 1 On oO do X a 0 d Fe 3 Time s Time s b short boom and high elevation angle situation gi 3 E 3 2 i S gt 9 1 S g i 3 0 amp 1 o dd 34d 15 Qe 3 3 w A C
Download Pdf Manuals
Related Search