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Design of Fractional-Order PIα Controller with two modes

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Design of Fractional-Order PIα Controller with two modes

CES/IEEE 5th International Power Electronics and Motion Control Conference

作者： yoichi hori Rm.Ce-501 Institute of Industrial Sciencethe University of TokyoTokyoJapan

＜正＞A kind of fractional-order PIα controller is considered. Controller structure with two modes is presented, active status of two modes and mode switching are described. The Tustin operator is used for digital realization of the fractional-order PIα controller. Different approximation order is discussed to get a tradeoff between approximation precision and complexity of discretization expression. Comparison of fractional-order PIα controllers with two modes and without two modes is demonstrated by experimental examples of torsion vibration suppression in the two cases. Some conclusions are given.

关键词： Fractional-order controller with two modes discretization performance comparison

An Introduction of Fractional Order Control and Its Applications in Motion Control

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An Introduction of Fractional Order Control and Its Applicat...

第二十三届中国控制会议

作者： yoichi hori The Department of Electrical Engineering The University of TokyoTokyo JAPAN

＜正＞ Fractional Order Control （FOC） means controlled systems and/or controllers described by fractional order differential equations, which is beginning to attract considerable attention in recent years. In this paper, a brief introduction of FOC research is given, including its history, present situation and mathematical aspects. A real application is also used to show FOC’s advantages in control design. In oscillatory system control, the tradeoff between stability margin loss and vibration suppression strength is a common problem. By introducing FOC approach, control system’s phase and gain responses can be easily offset to any desired value. Design process and experimental results demonstrate a clear-cut and effective robust control design is possible based on FOC design method. Even the realization of fractional order controllers looks somewhat problematic. Experiment results show they can actually be realized quite acceptably.

关键词： introduction fractional order control application motion control

Back-EMF Based Slip Prevention Controller for EV Simulated by DC Motor System

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Back-EMF Based Slip Prevention Controller for EV Simulated b...

第二十三届中国控制会议

作者： Shinya Kodama yoichi hori Department of Electrical Engineering University of TokyoTokyoJAPAN 113-8656 Institute of Industrial Science University of TokyoTokyoJAPAN 153-8505

＜正＞ In this paper, a novel slip prevention controller with a load torque disturbance observer using the signal of back EMF is proposed. When slip occurs, the equivalent inertia of EV system will change, and the acceleration of the drive wheels will also change. By constructing an observer, the value of the back EMF is acquired, which includes the information of wheel speed. Then a load torque observer is designed using the signal of back EMF to limit the torque （current） command, and keep the status of EV within a safe area. By selecting observer gain properly, the torque reduction can be adjusted freely in some range. The experimental results of the slip phenomenon simulator utilizing Motor-Generator set verified the effectiveness of the proposed approach.

关键词： EV skid prevention adhesion control ABS back EMF

四轮独立驱动电动汽车的稳定性控制及其最优动力分配法

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河北工业大学学报 2007年第4期36卷 26-32页

作者：贺鹏堀洋一东京大学电气系东京大学生产技术研究所

提出了一种用于四轮独立驱动的电动汽车的稳定性综合控制方法.该控制系统中的上位控制器利用前馈、反馈协调控制的2自由度控制方法来确定使得电动汽车横向和侧向稳定运动所需的总控制量.在基于上位系统确定的所需总控制量的前提下,下位... 详细信息

提出了一种用于四轮独立驱动的电动汽车的稳定性综合控制方法.该控制系统中的上位控制器利用前馈、反馈协调控制的2自由度控制方法来确定使得电动汽车横向和侧向稳定运动所需的总控制量.在基于上位系统确定的所需总控制量的前提下,下位控制器由过自由度控制法,来分配各个电马达的驱动力,从而完成最优动力分配.通过对轮胎-电机-车辆这一子系统的控制来达到上位控制器所需要的稳定控制总量,来实现对车辆的侧向运动稳定控制.仿真结果说明了所述方法的有效性.

关键词：电动汽车独立驱动稳定性控制动力分配

电动汽车稳定性控制中的车体侧偏角观测器研究

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河北工业大学学报 2007年第1期36卷 13-18页

作者：耿聪堀洋一青木良文东京大学大学院工学系研究科东京大学生产技术研究所

采用轮毂电机独立驱动的电动汽车可采用直接横摆力矩控制(Direct Yaw-moment Control,DYC)等稳定性控制,而车体侧偏角(简称β角)是稳定性控制中的重要参数.直接测定车体侧偏角的传感器相当昂贵,所以需要从能够容易测得的参数来进行车体... 详细信息

采用轮毂电机独立驱动的电动汽车可采用直接横摆力矩控制(Direct Yaw-moment Control,DYC)等稳定性控制,而车体侧偏角(简称β角)是稳定性控制中的重要参数.直接测定车体侧偏角的传感器相当昂贵,所以需要从能够容易测得的参数来进行车体侧偏角的推测.hori研究室设计了一种用于β角推测的观测器,并充分考虑了车辆运行工况变化所引起的系统模型参数变化,进行了观测器鲁棒性设计以及轮胎侧偏刚度在线辨识,使观测器具备了足够的鲁棒性来克服大的模型误差影响,试验结果证明了该观测器的有效性.

关键词：电动汽车车辆稳定性控制车体侧偏角观测器轮胎侧偏刚度

基于最大可传递转矩估计的主动稳定性控制(英文)

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汽车安全与节能学报 2011年第1期2卷 34-38页

作者：殷德军大前学清水浩堀洋一庆应义塾大学政策与传媒研究科东京大学工学系研究科

直接横摆力矩控制(DYC)可增强车辆二维运动的稳定性。该文建立了一个两轮的车辆模型作为控制参考模型,以便提高对电动汽车轮毂电机的二维运动控制的稳定性和实用性。基于最大可传递转矩估计(MTTE)的牵引力控制,可用于抑制打滑现象以增... 详细信息

直接横摆力矩控制(DYC)可增强车辆二维运动的稳定性。该文建立了一个两轮的车辆模型作为控制参考模型,以便提高对电动汽车轮毂电机的二维运动控制的稳定性和实用性。基于最大可传递转矩估计(MTTE)的牵引力控制,可用于抑制打滑现象以增强纵向和横向摩擦力,并可提供关于轮胎与路面间的额外信息。提出了一种新的基于MTTE的DYC策略。经过完整控制系统的MTTE增强型DYC与常规DYC的数值仿真对比,结果验证了这种控制策略的优越性。

关键词：电动汽车直接横摆力矩控制(DYC) 最大可传递转矩估计(MTTE) 稳定性控制轮毂电机

Spectroscopic Determination of C,N,and O Abundances of Solar-analog Stars Based on the Lines of Hydride Molecules

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Research in Astronomy and Astrophysics 2023年第2期23卷 107-120页

作者： yoichi Takeda 11-2 Enomachi Naka-kuHiroshima-shi730-0851Japan

Photospheric C,N,and O abundances of 118 solar-analog stars were determined by applying the synthetic-fitting analysis to their spectra in the blue or near-UV region comprising lines of CH,NH,and OH molecules,with an aim of clarifying the behaviors of these abundances in comparison with[Fe/H].It turned out that,in the range of-0.6■[Fe/H]■+0.3,[C/Fe]shows a marginally increasing tendency with decreasing[Fe/H]with a slight upturn around[Fe/H]~0,[N/Fe]tends to somewhat decrease toward lower[Fe/H],and[O/Fe]systematically increases (and thus[C/O]decreases) with a decrease in[Fe/H].While these results are qualitatively consistent with previous determinations mostly based on atomic lines,the distribution centers of these[C/Fe],[N/Fe],and[O/Fe]at the near-solar metallicity are slightly negative by several hundredths of dex,which is interpreted as due to unusual solar abundances possibly related to the planetary formation of our solar ***,clear anomalies are not observed in the[C,N,O/Fe]ratios of planet-host *** out of four very Be-deficient stars were found to show anomalous[C/Fe]or[N/Fe]which may be due to mass transfer from the evolved companion,though its relation to the Be depletion mechanism is still unclear.

关键词： Galaxy evolution-planet-star interactions-stars abundances-stars atmospheres-stars solar-type

Now and future of mouse mutagenesis for human disease models

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Journal of Genetics and Genomics 2010年第9期37卷 559-572页

作者： yoichi Gondo Mutagenesis and Genomics Team RIKEN Bio Resource Center

One of the major objectives of the Human Genome Project is to understand the biological function of the gene and genome as well as to develop clinical applications for human diseases. For this purpose, the experimental validations and preclinical trails by using animal models are indispensable. The mouse （Mus musculus） is one of the best animal models because genetics is well established in the mouse and embryonic manipulation technologies are also well developed. Large-scale mouse mutagenesis projects have been conducted to develop various mouse models since 1997. Originally, the phenotype-driven mutagenesis with N-ethyl-N-nitrosourea （ENU） has been the major efforts internationally then knockout/conditional mouse projects and gene-driven mutagenesis have been following. At the beginning, simple monogenic traits in the experimental condition have been elucidated. Then, more complex traits with variety of environmental interactions and gene-to-gene interactions （epistasis） have been challenged with mutant mice. In addition, chromosomal substitution strains and collaborative cross strains are also available to elucidate the complex traits in the mouse. Altogether, mouse models with mutagenesis and various laboratory strains will accelerate the studies of functional genomics in the mouse as well as in human.

关键词： mutagenesis functional genomics reverse genetics model animal quantitative trait epistasis

Measurements of the Ca II infrared triplet lines of young stellar objects

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Research in Astronomy and Astrophysics 2013年第10期13卷 1189-1201页

作者： yoichi Itoh Keiko Moto'oka yoichi Itoh The Saga Prefecture Space & Science Museum 16351 Nagashima Takeo Takeo Saga 843-0021 Japan Nishi-Harima Astronomical Observatory Center for Astronomy University of Hyogo 407-2 Nishigaichi Sayo Hyogo 679-5313 Japan yitoh @nhao.jp

Equivalent widths and line widths of Ca II infrared triplet emission lines were measured in the high-resolution optical spectra of 39 young stellar *** found that the equivalent widths of the emission lines decrease with stellar *** has often been claimed that strong chromospheric activity is generated by a dynamo process caused by fast rotation of the ***,we found no clear correlation between the strength of the Ca II lines and the stellar rotation ***,we found that the objects with high mass accretion rates had stronger Ca II emission *** correlation supports the turbulent chromosphere model or the magnetic accretion theory for classical T Tauri *** also noticed that the equivalent widths of Ca II lines in transitional disk objects are one-tenth of those in classical T Tauri stars,even if the masses of the circumstellar disks are comparable.

关键词： stars:pre-main sequence stars:emission lines