2021/08/06 更新

写真a

ヒラモト カズヒコ
平元 和彦
HIRAMOTO Kazuhiko
所属
教育研究院 自然科学系 生産デザイン工学系列 教授
自然科学研究科 材料生産システム専攻 機械科学 教授
工学部 工学科 教授
職名
教授
外部リンク

学位

  • 博士(工学) ( 2000年4月   秋田大学 )

研究キーワード

  • 最適化手法のバイオメカニクスへの応用

  • 制御系設計理論とその機械システム・建築構造物の制御への応用

  • Theory of Control System Design and its Application for Mechanical Systems

研究分野

  • ライフサイエンス / リハビリテーション科学

  • ものづくり技術(機械・電気電子・化学工学) / 制御、システム工学

  • 情報通信 / 機械力学、メカトロニクス

  • 情報通信 / ロボティクス、知能機械システム

  • 情報通信 / 機械力学、メカトロニクス

  • ものづくり技術(機械・電気電子・化学工学) / 制御、システム工学

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経歴(researchmap)

  • 新潟大学   自然科学系   准教授

    2010年4月 - 2015年3月

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  • Visiting Professor, University of Houston

    2003年10月 - 2004年7月

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  • 秋田大学   工学資源学部   准教授

    2000年4月 - 2010年3月

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  • 秋田大学   鉱山学部   助手

    1996年6月 - 2000年3月

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  • 秋田大学

    1996年 - 2000年

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  • 秋田大学

    1994年4月 - 1996年5月

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  • Department of Mechanical Engineering Mining

    1994年 - 1996年

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  • College, Akita University,

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  • Technical Official

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▶ 全件表示

経歴

  • 新潟大学   工学部 工学科   教授

    2017年4月 - 現在

  • 新潟大学   自然科学研究科 材料生産システム専攻 機械科学   教授

    2015年4月 - 現在

  • 新潟大学   生産システム   教授

    2015年4月 - 2017年3月

  • 新潟大学   生産システム   准教授

    2010年4月 - 2015年3月

  • 新潟大学   自然科学研究科 材料生産システム専攻   准教授

    2010年4月 - 2015年3月

学歴

  • 秋田大学

    - 1994年

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  • 秋田大学   鉱山学研究科   生産機械工学

    - 1994年

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    国名: 日本国

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所属学協会

 

論文

  • Active vibration control of structural systems with a preview of a future seismic waveform generated by remote waveform observation data and an artificial intelligence–based waveform estimation system 査読

    Kazuhiko Hiramoto, Taichi Matsuoka

    Journal of Vibration and Control   26 ( 17-18 )   1602 - 1613   2020年9月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:SAGE Publications  

    We propose a new active vibration control strategy of structural systems based on the information of future seismic waveform observed in remote observation sites. The observed waveform information of the remote site is transmitted by a waveform transmission network to the structure under control. The waveform transmission network is realized by interconnecting multiple controlled structures and observation sites. By using the remote waveform containing the future information of the disturbance at the location of the controlled structure, we propose an active control method that achieves fairly higher control performance over conventional methodologies. A preview control consisting of the state-feedback and feedforward control (preview action) is adopted as the control law. For the preview action, a future seismic waveform in some time interval is needed. Because the future seismic waveform is not available, the preview action contributing the performance improvement is generally impossible. To get over this difficulty, an artificial intelligence–based waveform estimation system to estimate the future seismic waveform is proposed. The core of the wave estimation system is a multi-layered artificial neural network. Through a small-scale simulation study with a recorded seismic event in Japan, we show that the proposed control method achieves much higher control performance over the optimized [Formula: see text] state-feedback control law.

    DOI: 10.1177/1077546319901024

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    その他リンク: http://journals.sagepub.com/doi/full-xml/10.1177/1077546319901024

  • 慣性質量要素を有する振動制御デバイスを適用した配管系の動的最適設計 査読

    山崎 一生, 平元 和彦

    日本機械学会論文集   86 ( 891 )   20 - 00059   2020年

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    担当区分:最終著者   記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.1299/transjsme.20-00059

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  • Adaptive Gain Scheduled Semiactive Vibration Control Using a Neural Network 査読

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    Shock and Vibration   2018 ( 3762784 )   2018年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Hindawi Limited  

    We propose an adaptive gain scheduled semiactive control method using an artificial neural network for structural systems subject to earthquake disturbance. In order to design a semiactive control system with high control performance against earthquakes with different time and/or frequency properties, multiple semiactive control laws with high performance for each of multiple earthquake disturbances are scheduled with an adaptive manner. Each semiactive control law to be scheduled is designed based on the output emulation approach that has been proposed by the authors. As the adaptive gain scheduling mechanism, we introduce an artificial neural network (ANN). Input signals of the ANN are the measured earthquake disturbance itself, for example, the acceleration, velocity, and displacement. The output of the ANN is the parameter for the scheduling of multiple semiactive control laws each of which has been optimized for a single disturbance. Parameters such as weight and bias in the ANN are optimized by the genetic algorithm (GA). The proposed design method is applied to semiactive control design of a base-isolated building with a semiactive damper. With simulation study, the proposed adaptive gain scheduling method realizes control performance exceeding single semiactive control optimizing the average of the control performance subject to various earthquake disturbances.

    DOI: 10.1155/2018/3762784

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  • Active/semi-active hybrid control for motion and vibration control of mechanical and structural systems 査読

    Kazuhiko Hiramoto, Karolos M. Grigoriadis

    JOURNAL OF VIBRATION AND CONTROL   22 ( 11 )   2704 - 2718   2016年6月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:SAGE PUBLICATIONS LTD  

    As a new control design framework for motion and vibration control of mechanical and structural systems, an active/semi-active hybrid control (ASHC) methodology is proposed in this paper. In the proposed ASHC framework, a mechanical system that has both an actuator for motion and vibration control, and a semi-active control device, e.g., MR damper, for vibration control is defined as a control configuration. Depending on the location of the actuator and the semi-active device, two ASHC problems are formulated as optimization problems of the control performance on the motion and vibration control. In the ASHC approach, the higher control performance is accomplished by the cooperative and complementary control of the actuator and the semi-active control device. Some solution candidates and design examples are presented to show the effectiveness and the importance of the ASHC framework.

    DOI: 10.1177/1077546314550700

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  • Semi-active vibration control of structural systems based on a reference active control law: output emulation approach 査読

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    STRUCTURAL CONTROL & HEALTH MONITORING   23 ( 3 )   423 - 445   2016年3月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:WILEY-BLACKWELL  

    A new semi-active control strategy that approximates a predicted control output of a reference active control is proposed. A variable parameter of a semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the reference active control as much as possible. Parameters of the reference active control law are optimized in the premise of the aforementioned output emulation' strategy so that the control performance of the semi-active control becomes good and the error' in the sense of achieved control performance between the reference active control and semi-active control systems becomes small. A pole placement method based on a linear matrix inequality (LMI) framework is adopted as the reference active control law. Parameters to determine the domain in the complex plane where the closed-loop poles are placed are searched so that control performance of the semi-active control system based on the output emulation approach is optimized. Copyright (c) 2015 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.1770

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  • Seismic response control using electromagnetic inertial mass dampers 査読

    Yutaka Nakamura, Akira Fukukita, Kazuo Tamura, Issei Yamazaki, Taichi Matsuoka, Kazuhiko Hiramoto, Katsuaki Sunakoda

    EARTHQUAKE ENGINEERING & STRUCTURAL DYNAMICS   43 ( 4 )   507 - 527   2014年4月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:WILEY-BLACKWELL  

    This paper presents a new type of electromagnetic damper with rotating inertial mass that has been developed to control the vibrations of structures subjected to earthquakes. The electromagnetic inertial mass damper (EIMD) consists of a ball screw that converts axial oscillation of the rod end into rotational motion of the internal flywheel and an electric generator that is turned by the rotation of the inner rod. The EIMD is able to generate a large inertial force created by the rotating flywheel and a variable damping force developed by the electric generator. Device performance tests of reduced-scale and full-scale EIMDs were undertaken to verify the basic characteristics of the damper and the validity of the derived theoretical formulae. Shaking table tests of a three-story structure with EIMDs and earthquake response analyses of a building with EIMDs were conducted to demonstrate the seismic response control performance of the EIMD. The EIMD is able to reduce story drifts as well as accelerations and surpasses conventional types of dampers in reducing acceleration responses. Copyright (c) 2013 John Wiley & Sons, Ltd.

    DOI: 10.1002/eqe.2355

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  • Simultaneous optimal design of the structural model for the semi-active control design and the model-based semi-active control 査読

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    STRUCTURAL CONTROL & HEALTH MONITORING   21 ( 4 )   522 - 541   2014年4月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:WILEY-BLACKWELL  

    Various semi-active control methods have been proposed for vibration control of civil structures. In contrast to active vibration control systems, all semi-active control systems are essentially asymptotically stable because of the stability of general structural systems with structural damping and the energy dissipative nature of the semi-active control itself. In this study, by utilizing the aforementioned property on the stability of semi-active control systems, a structural model for the semi-active control design and a model-based semi-active control law are simultaneously designed so that the control performance of the resulting semi-active control system becomes good. The model for the control system design is assumed to be a linear parameter varying model with adjustable structural design parameters. The semi-active control law is based on the one step ahead prediction of the structural response of the designed model for the control system design. A genetic algorithm is adopted to obtain design parameters in the model for the control system design and the semi-active control law. Those design parameters are optimized so that the closed-loop system with the detailed dynamic model that accurately approximates the dynamic behavior of the real structural system and the semi-active control law obtained with the model for the control system design. The effectiveness of the present approach is shown with a simulation study. Copyright (c) 2013 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.1581

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  • Cooperative Control Method of Active and Semiactive Control: New Framework for Vibration Control 査読

    Kazuhiko Hiramoto

    MATHEMATICAL PROBLEMS IN ENGINEERING   2014 ( 518276 )   2014年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:HINDAWI PUBLISHING CORPORATION  

    A new control design framework for vibration control, the cooperative control of active and semiactive control, is proposed in the paper. In the cooperative control, a structural system having both of an actuator and a semiactive control device, for example, MR damper and so forth, is defined as the control object. In the proposed control approach, the higher control performance is aimed by the cooperative control between the active control with the actuator and the semiactive control with the semiactive control device. A design method to determine the active control input and the command signal to drive the semiactive control device based on the one-step prediction of the control output is proposed. A simulation example of a control system design for a benchmark building is presented to show the effectiveness of the proposed control framework.

    DOI: 10.1155/2014/518276

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  • Control system design of mechanical systems with time varying mechanical and control parameters 査読

    Kazuhiko Hiramoto

    JOURNAL OF ADVANCED MECHANICAL DESIGN SYSTEMS AND MANUFACTURING   8 ( 3 )   2014年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:JAPAN SOC MECHANICAL ENGINEERS  

    A new control framework of motion and/or vibration control system design for mechanical systems with a time varying mechanical and control parameters is studied. As examples of such time varying mechanical and control parameters, we can assume a variable damping or stiffness parameter of semi-active control devices and a time varying weighting function in a generalized plant respectively. The mechanical system in the present study is assumed to have also an actuator for active motion and/or vibration control. The active control law to drive the actuator is obtained by a gain-scheduling controller based on linear matrix inequalities (LMIs) so that the closed-loop system is stable for all assumed values of the time varying mechanical and control parameters in the generalized plant. We use the adjustability of the time varying mechanical and control parameters in the closed-loop system to realize given control specifications. As the control law of the time varying parameters in the closed-loop system, a multi-layered feedforward artificial neural network (ANN) is designed as a dynamic map from available signals in the control system to time varying mechanical and control parameters. Design parameters of the ANN are optimized with a genetic algorithm (GA). With a design example of an active positioning and vibration control of a mechanical system with variable damping coefficient, the proposed design approach is shown to be capable of achieving highly sophisticated control specifications that are hard to be satisfied by conventional control methods.

    DOI: 10.1299/jamdsm.2014jamdsm0028

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  • Simultaneous Optimal Design of the Lyapunov-Based Semi-Active Control and the Semi-Active Vibration Control Device: Inverse Lyapunov Approach 査読

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    JOURNAL OF PRESSURE VESSEL TECHNOLOGY-TRANSACTIONS OF THE ASME   134 ( 6 )   2012年12月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:ASME  

    We address a simultaneous optimal design problem of a semi-active (SA) control law and design parameters in a semi-active control device for civil structures. The vibration control device (VCD) that is being developed by authors is used as the semi-active control device. The VCD is composed of a ball screw with a flywheel for the inertial resistance force and an electric motor with an electric circuit for the damping resistance force. A new bang-bang type semi-active control law referred to as inverse Lyapunov approach is proposed. In the inverse Lyapunov approach, the Lyapunov matrix in the bang-bang type semi-active control based on the Lyapunov function is searched so that the control performance of the semi-active control system is optimized. Design parameters to determine the Lyapunov function and those of the VCD are optimized with the genetic algorithm (GA). The effectiveness of the proposed approach is presented with simulation studies. [DOI: 10.1115/1.4007033]

    DOI: 10.1115/1.4007033

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  • Iterative System Identification and Controller Design with an LMI-Based Framework: Windsurfer-Like Approach 査読

    Kazuhiko Hiramoto

    JOURNAL OF APPLIED MATHEMATICS   2012 ( 328186 )   2012年

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:HINDAWI PUBLISHING CORPORATION  

    An LMI-based method for the integrated system identification and controller design is proposed in the paper. We use the fact that a class of a system identification problem results in an LMI optimization problem. By combining LMIs for the system identification and those to obtain a discrete time controller we propose a framework to integrate two steps for the model-based control system design, that is, the system identification and the controller synthesis. The framework enables us to obtain a good model for control and a model-based feedback controller simultaneously in the sense of the closed-loop performance. An iterative design algorithm similar to so-called Windsurfer Approach is presented.

    DOI: 10.1155/2012/328186

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  • Inverse Lyapunov Approach for semi-active control of civil structures 査読

    K. Hiramoto, T. Matsuoka, K. Sunakoda

    STRUCTURAL CONTROL & HEALTH MONITORING   18 ( 4 )   382 - 403   2011年6月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:WILEY-BLACKWELL  

    In the present paper an Inverse Lyapunov method in a bang-bang type semi-active control for civil structures is proposed. The vibration control device (VCD) that has been developed by authors is employed for the semi-active control. The VCD is installed between two neighboring stories of structures like general dampers and generates two types of resistance forces, i.e. an inertial force proportional to the relative acceleration and a damping force proportional to the relative velocity of the two floors. The damping coefficient of the VCD can be changed by a command signal to an electric circuit connected to the VCD. In conventional Lyapunov-based semi-active control the Lyapunov function is firstly determined, mostly it is defined as the sum of the kinetic and potential energies at every instant, and the bang-bang type control is derived so that the dissipation rate of the defined Lyapunov function (the total energy) is maximized. In this paper, conversely, we assume the simple bang-bang type control firstly and then the Lyapunov function is searched so that the high performance on vibration suppression of civil structures, e. g. small relative displacement between adjacent two floors and absolute acceleration of each storey, etc., is achieved. Genetic Algorithm is adopted for the search of the Lyapunov function. Structural responses subject to recorded and artificial earthquake waves are used in the searching process. We show the effectiveness of the proposed Inverse Lyapunov Approach with a simulation example for a 15-storey building with three VCDs. Copyright (C) 2010 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.375

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  • Integrated Design of Structural and Semi-active Control Systems: Inverse Lyapunov Approach 査読

    K. Hiramoto, T. Matsuoka, A. Fukukita, K. Sunakoda

    Journal of System Design and Dynamics   5 ( 5 )   665 - 680   2011年

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  • Integrated design of large-scale collocated structural system and control parameters using a norm upper bound approach 査読

    Mona Meisami-Azad, Javad Mohammadpour Velni, Kazuhiko Hiramoto, Grigoriadis M. Karolos

    Efficient Modeling and Control of Large-Scale Systems   305 - 328   2010年

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    記述言語:英語   掲載種別:論文集(書籍)内論文   出版者・発行元:Springer US  

    The traditional design optimization of system parameters and a feedback controller usually follows a sequential strategy, where the open-loop system parameters are optimized first, followed by the controller design. However, this design strategy will not lead to an optimal closed-loop performance due to the coupled nature of the plant and controller optimization problems. Specifically, this two-step design methodology does not utilize the full design freedom to achieve an optimal overall system. It has been shown that the overall system performance can be significantly improved if the design process of the plant and the control system is integrated [17,18,28-30]. The integrated design strategy corresponds to a simultaneous optimization of the design parameters of both the plant and the controller to satisfy desired set of design specifications and to optimize the closed-loop system performance. Past research work has demonstrated the improved performance achieved using the integrated design strategy compared to the sequential method of design. © 2010 Springer Science+Business Media, LLC.

    DOI: 10.1007/978-1-4419-5757-3_12

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  • Bang-bang type semi-active control of civil structures, A prediction-based approach

    K. Hiramoto, T. Matsuoka, K. Sunakoda, A. Fukukita, I. Yamazaki

    Journal of System Design and Dynamics   4 ( 1 )   103 - 114   2010年

  • 建築構造物に対する構造系とセミアクティブ制御系の統合化設計

    平元和彦, 松岡太一, 砂子田勝昭, 福喜多輝, 山崎一生

    日本機械学会論文集C編   76 ( 765 )   1193 - 1200   2010年

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    記述言語:日本語   掲載種別:研究論文(学術雑誌)  

    DOI: 10.1299/kikaic.76.1193

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  • Upper bound H-infinity and H-2 control for collocated structural systems

    K. Hiramoto, K. Grigoriadis

    STRUCTURAL CONTROL & HEALTH MONITORING   16 ( 4 )   425 - 440   2009年6月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:WILEY-BLACKWELL  

    A static-rate-feedback control for collocated structural systems is considered in this paper. The feedback gain matrix is obtained by solving linear matrix inequalities (LMIs) to minimize an upper bound of the closed-loop H-infinity or H-2 norm. The LMI conditions are obtained by assuming the form of Lyapunov matrices in the standard LMI conditions for evaluating the H-infinity or H-2 norm. We demonstrate that the obtained upper bounds of the H-infinity and H-2 norms closely match their actual values, respectively, when a relatively large amount of energy is allowed for the control. A decentralized rate feedback controller that globally minimizes the upper bound of the closed-loop H-infinity or H-2 norm can also be obtained with the proposed framework. Furthermore, if the coefficient matrices of the system's equations of motion are linear functions of structural design parameters, the obtained result for the controller synthesis can be easily extended to an integrated design problem of structural and control systems, a simultaneous optimal design of the structural design parameters and the feedback controller, while retaining the LMI structure with respect to the feedback gain matrix and structural design parameters. This fact means that the global optimal solution to the integrated design problem, which is generally hard to solve in a global sense, can be obtained if we take the upper bound of the closed-loop norm as the objective function. Copyright (c) 2008 John Wiley & Sons, Ltd.

    DOI: 10.1002/stc.261

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  • ナノモーションアクチュエータに対するPID制御器の設計

    長縄明大, 平元和彦, 古谷将人, 渋谷 嗣, 森 英季

    日本機械学会論文集C編   74 ( 741 )   1303   2009年

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  • Biomechanical analysys of lower extremities during conventional and functional electrical stimulation (FES) rowing in non-disabled individuals

    M. Takeshima, Y. Shimada, T. Matsunaga, T. Iwami, K. Hiramoto

    Akita Journal of Medicine   36 ( 3 )   203   2009年

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  • 受動・準能動の双方に適応可能な電磁抵抗型制振装置

    砂子田勝昭, 松岡太一, 平元和彦, 福喜多輝

    日本機械学会論文集C編   75 ( 758 )   2659   2009年

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  • アクティブゲインスケジューリング-LPV システムとゲインスケジューリング制御の協調-

    平元和彦, 川村光貴, 三浦憲幸

    日本機械学会論文集C編   74 ( 741 )   2008年

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  • 消散システム理論に基づく二値切替型セミアクティブ制御系の設計

    平元和彦, 松岡太一, 砂子田勝昭

    日本建築学会構造系論文集   ( 621 )   33   2007年

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  • LMIによるロボットマニピュレータの動力学パラメータの大域的最適設計

    小笠原伸二, 平元和彦, 土岐 仁

    機械学会論文集C編   73 ( 734 )   2742   2007年

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  • Integrated design of structural and control systems based on a polynomial matrix approach: A unified framework for structural and/or control design

    K. Hiramoto, H. Inayoshi

    Journal of System Design and Dynamics   1 ( 3 )   605 - 616   2007年

  • 発電式振動抑制装置に関する研究

    松岡太一, 砂子田勝昭, 平元和彦

    日本機械学会論文集C編   73 ( 735 )   2926 - 2931   2007年

  • Integrated design of structural and control systems with a homotopy like iterative method

    K. Hiramoto, K. M. Grigoriadis

    INTERNATIONAL JOURNAL OF CONTROL   79 ( 9 )   1062 - 1073   2006年9月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:TAYLOR & FRANCIS LTD  

    We consider an integrated design problem of structural and control systems. It is well known that even the simplest formulation of this problem results in a kind of a BMI problem. In this paper, homotopy-like iterative design method based on LMIs is proposed to obtain an optimal plant and a controller simultaneously for a full-order output feedback problem. We can deal with a multiobjective problem, e. g., H-2/H-infinity control problem etc. in the proposed design method. We can also optimize structural design parameters appearing non-linearly in the coefficient matrices of the plant state space form using the first order approximation of the non-linear dependence in the proposed algorithm. Several design examples show that the proposed algorithm works quite effectively for various integrated design problems.

    DOI: 10.1080/00207170600750105

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  • ロボットマニピュレータのLMIによる機構設計法とゲインスケジューリング手法を用いた構造・制御系の同時最適設計

    小笠原伸二, 平元和彦, 土岐 仁

    計測自動制御学会論文集   42 ( 11 )   1217   2006年

  • 構造系とゲインスケジュールドコントローラの統合化設計

    平元和彦, 中道健太

    日本機械学会論文集C編   72 ( 718 )   1785 - 1792   2006年

  • Simultaneous optimal design of structural and control systems for cantilevered pipes conveying fluid

    K Hiramoto, H Doki

    JOURNAL OF SOUND AND VIBRATION   274 ( 3-5 )   685 - 699   2004年7月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:ACADEMIC PRESS LTD ELSEVIER SCIENCE LTD  

    We consider a shape optimization problem for a cantilevered pipe conveying fluid. The outer diameter distribution of the pipe and the location of the sensor and the actuator are optimized such that the critical flow velocity of the closed-loop system is maximized. The outer diameter distribution is optimized such that the total volume of the pipe is unchanged with the initial diameter distribution. The critical flow velocity of the closed-loop system is defined as the flow velocity which cannot be stabilized by active control law with a predetermined energy quantity. By this definition, it is physically reasonable comparing the quality of several design candidates since all candidates are actively controlled with the same energy consumption. We propose a method for obtaining the critical flow velocity with consideration of the amount of computation for the optimal design. This optimal design problem results in a maximization problem with equality and inequality constraints. We adopt simulated annealing method which is known as one of discrete optimization techniques for obtaining the optimal design. (C) 2003 Elsevier Ltd. All rights reserved.

    DOI: 10.1016/S0022-460X(03)00745-4

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  • Development of new ski-system for legs-disabled persons

    H. Doki, K. Hiramoto, M. Tanaka

    The Engineering of Sports 4, Edited by S.Ujihashi and S.J.Haake,Blackwell Publishing   609 - 615   2002年

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  • 片持送水管に対する構造系と制御系の同時最適設計(複合送水管に対する実験的検証)

    土岐 仁, 平元 和彦, 齊藤 勇, 宮崎 智充

    日本機械学会論文集(C編)   68 ( 667 )   817 - 824   2002年

  • 解析的アプローチに基づく構造系と制御系の同時最適化(DVDFB制御の場合)

    孫 會秀, 大日方 五郎, 土岐 仁, 平元 和彦

    日本機械学会論文集(C編)   68 ( 670 )   1728 - 1734   2002年

  • Simultaneous optimal design of structure and control systems based on Youla parameterization 査読

    K Hiramoto, H Doki, C Obinata

    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING   43 ( 2 )   326 - 334   2000年6月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:JAPAN SOC MECHANICAL ENGINEERS  

    This paper deals with simultaneous optimal design of structure and control systems. For structures with collocated sensors and actuators, a stabilizing state-feedback gain and an estimator gain can be obtained easily. Using these two gain matrices, we can parameterize all stabilizing controllers for the structure by Youla parameterization scheme. Since stability of the closed-loop system is guaranteed, we can optimize design parameters in the structure and the controller simultaneously without taking two-step design procedures which consist of the step for controller synthesis and that for structural parameter tuning. Hence, convergence to the local optima is achieved with standard descent-based nonlinear optimization techniques (steepest descent, Newton method, etc.). By a design example, we show the effectiveness of proposed design method.

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  • OPTIMAL SENSOR/ACTUATOR PLACEMENT FOR ACTIVE VIBRATION CONTROL USING EXPLICIT SOLUTION OF ALGEBRAIC RICCATI EQUATION 査読 国際誌

    K. HIRAMOTO, H. DOKI, G. OBINATA

    Journal of Sound and Vibration   229 ( 5 )   1057 - 1075   2000年2月

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    担当区分:筆頭著者, 責任著者   記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:Elsevier BV  

    DOI: 10.1006/jsvi.1999.2530

    Scopus

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  • 両下肢障害者用スキーの動作解析(スキーロボットによるターンの解析)

    日本スキー学会誌   10 ( 1 )   119   2000年

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  • 離散的設計変数を考慮した構造系と制御系の同時最適設計(共著)

    平元 和彦, 土岐 仁, 大日方 五郎

    日本機械学会論文集(C編)   66 ( 643 )   793 - 800   2000年

  • 片持送水管に対する構造系と制御系の同時最適設計(共著)

    平元 和彦, 土岐 仁

    日本機械学会論文集(C編)   66 ( 641 )   45 - 52   2000年

  • 回旋機構によるスレッジ型両下肢障害者用スキーの開発(第1報 実機2号機の性能試験)

    日本スキー学会誌   10 ( 1 )   151   2000年

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  • 両下肢障害者用スキーの開発(実機による滑走試験)(共著)

    日本スキー学会誌   9 ( 1 )   1999年

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  • Youlaパラメトリゼーションに基づく構造系と制御系の同時最適設計(共著)

    平元 和彦, 土岐 仁, 大日方 五郎

    日本機械学会論文集(C編)   65 ( 630 )   515 - 521   1999年

  • ゲインスケジューリングによる片持送水管の安定化制御(共著)

    土岐 仁, 平元 和彦, 齊藤 伸浩, 大日方 五郎

    日本機械学会論文集(C編)   65 ( 632 )   1448 - 1453   1999年

  • Active control of cantilevered pipes conveying fluid with constraints on input energy

    H Doki, K Hiramoto, RE Skelton

    JOURNAL OF FLUIDS AND STRUCTURES   12 ( 5 )   615 - 628   1998年7月

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    記述言語:英語   掲載種別:研究論文(学術雑誌)   出版者・発行元:ACADEMIC PRESS LTD  

    This paper deals with the stabilization of flutter in cantilevered pipes conveying: fluid with constraints on input energy for control. The controller in this study is designed by using an algorithm which iteratively tunes the weighting matrix of the quadratic performance index in the LQG problem. This controller design method takes the performance of the actuator into consideration. The theoretical and experimental results show that the effectiveness of the controller in stabilizing flutter in cantilevered pipes conveying fluid varies according to the input variance constraints, i.e., the difference in the dynamic range of an actuator. Furthermore, the critical flow velocity at instability of the pipe can be estimated by the method stated in this paper, where the system loses its stability because of the restriction of control force produced by an actuator. (C) 1998 Academic Press.

    DOI: 10.1006/jfls.1997.0154

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  • 両下肢障害者用スキーの開発に関する基礎研究(共著)

    日本スキー学会誌   8 ( 1 )   159   1998年

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  • 柔軟構造物の振動制御系の最適設計-Riccati方程式の厳密解表現に基づくセンサ/アクチュエータの最適配置-(共著)

    土岐 仁, 平元 和彦, 秋元 文男

    日本機械学会論文集(C編)   64 ( 621 )   1508 - 1513   1998年

  • 柔軟構造物の振動制御系の設計法(操作エネルギに拘束条件を有する場合) (共著)

    土岐 仁, 平元 和彦, 開道 潤

    日本機械学会論文集(C編)   64 ( 623 )   2536 - 2541   1998年

  • 構造系と制御系の同時最適設計におけるコントローラのパラメトリゼイションと設計法(共著)

    平元 和彦, 土岐 仁, 大日方 五郎

    日本機械学会論文集(C編)   63 ( 614 )   3454 - 3459   1997年

  • 閉ループ特性を最適化する同時安定化コントローラの設計法(共著)

    計測自動制御学会論文集   33 ( 9 )   875   1997年

  • 送水管の能動制御(操作エネルギに拘束条件を有する場合)(共著)

    土岐 仁, 平元 和彦, 阿久津 宏之

    日本機械学会論文集   62 ( 604 )   4507 - 4512   1996年

  • H<sup>∞</sup>制御による片持送水管の安定化(共著)

    日本機械学会論文集(C編)   62 ( 601 )   3394   1996年

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  • 開ループ系の性能を考慮したアクティブ系とパッシブ系の同時最適化(共著)

    平元 和彦, 土岐 仁, 大日方 五郎

    日本機械学会論文集(C編)   61 ( 584 )   1450 - 1455   1995年

  • 構造系と制御系の同時最適設計法(レギュレータ問題の場合)(共著)

    大日方 五郎, 佐藤 智子, 平元 和彦, 村岸 恭次, 栗田 裕

    日本機械学会論文集(C編)   61 ( 591 )   4264 - 4269   1995年

  • H<sup>∞</sup>理論に基づくアクティブサスペンションシステムの設計 (共著)

    秋田大学鉱山学部研究報告   ( 15 )   67   1994年

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▶ 全件表示

書籍等出版物

  • 制御の事典

    平元 和彦, 大日方五郎( 担当: 分担執筆 ,  範囲: 凸最適化)

    朝倉書店  2015年  ( ISBN:9784254231410

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    担当ページ:159-162   記述言語:日本語 著書種別:事典・辞書

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  • わかりやすい振動工学

    砂子田勝昭, 伊藤智博, 鄭 萬溶, 平元和彦( 担当: 共著)

    共立出版  2012年  ( ISBN:9784320081857

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  • "Semi-Active Control of Civil Structures Based on the Prediction of the Structural Response: Integrated Design Approach" in Vibration Analysis and Control - New Trends and Developments

    K. Hiramoto, T. Matsuoka, K. Sunakoda( 担当: 分担執筆 ,  範囲: 151-172)

    Intech  2011年  ( ISBN:9789533074337

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  • はじめての制御工学

    佐藤和也, 平元和彦, 平田研二( 担当: 共著)

    講談社  2010年  ( ISBN:9784061557918

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  • "Integrated Design of Large-Scale Collocated Structural System and Control Parameters Using a Norm Upper Bound Approach'', in Efficient Modeling and Control of Large-Scale Systems

    M.​ ​Mi​s​a​m​i​-​A​z​a​d​,​ ​J.​ ​M​o​h​a​m​m​a​d​p​o​u​r​ ​V​e​l​n​i​,​ ​K.​ ​H​i​r​a​m​o​t​o, K.​M​.​ ​G​r​i​g​o​r​i​a​d​i​s( 担当: 分担執筆 ,  範囲: 305-328)

    Springer  2009年  ( ISBN:9781441957566

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    Integrated Design of Large-Scale Collocated Structural System and Control Parameters Using a Norm Upper Bound Approach (Mona Meisami-Azad, Javad Mohammadpour Velni, Kazuhiko Hiramoto and Karolos M. Grigoriadis, in J. Mohammadpour and K.M. Grigoriadis Eds. Efficient Modeling and Control of Large-Scale Systems)

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講演・口頭発表等

  • VARIABLE INERTIA DAMPER USING MR FLUID

    Taichi Matsuoka, Kazuhiko Hiramoto, Katsuaki Sunakoda, Naoto Abe

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE, 2016, VOL 8  2017年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2017年

    記述言語:英語  

    Inertia damper has an inertia effect by a flywheel which is caused by a quick moving mass. In general, it is difficult to change the inertia mass physically. In order to obtain a variable inertia effect, a new type of inertia damper has a long bypass pipe is proposed in this paper. This type of damper generates a damping effect and inertia effect by the fluid. It is noted that the inertia effect is depended on a density of the fluid, cross sectional areas of cylinder and bypass pipe, and length of the bypass pipe. If the diameter of the bypass pipe can be controlled, it means that a cross sectional area of the bypass pipe can be switched by clustering particles of MR fluid under magnetization, the inertia effect might be artificially controllable. A trial damper with several electromagnets installed along the long bypass pipe is manufactured, and dynamic property is measured when MR fluid inside the bypass pipe is magnetized by the electromagnets. From experimental results, it seems to be that the inertia effect can be switched and depended on amplitude of magnetization. Finally, the calculated results are theoretically approached, and compared with the experimental results.

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  • INERTIA DAMPER USING MR FLUID WITH SPIRALED BY-PASS PIPE

    Taichi Matsuoka, Shoma Yamano, Kazuhiko Hiramoto, Katsuaki Sunakoda, Naoto Abe, Pei-Yang Lin

    ASME PRESSURE VESSELS AND PIPING CONFERENCE - 2015, VOL 8  2015年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2015年

    記述言語:英語  

    Authors develop a unique type damper using MR fluid in order to obtain a series inertia effect for vibration suppression. The damper consists of a cylinder, a piston, and a long by-pass pipe. A rectangular gap is spirally formed at outer side of the cylinder as like a long by-pass pipe, and covered with an outer cylinder by interference fitting. Series inertia effect is caused by quickly movement of the fluid inside the by-pass pipe, and proportional to a length, density, and a ratio of cross sectional areas between the cylinder and the by-pass pipe. It is obvious from former study that not only a resonance frequency can be shifted toward low frequency, but also vibration can be cut off at an anti-resonance frequency by series inertia effect. The test damper is manufactured, and dynamic properties are investigated when it is subjected to sinusoidal wave. Force and Displacement curves are measured, and compared with theoretical results. Seismic vibration tests using 3-story benchmark structure with the damper installed are carried out. The effect of vibration suppression is evaluated, and the validity of the inertia effect is confirmed experimentally.

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  • SEMI-ACTIVE CONTROL OF STRUCTURAL SYSTEMS WITH AN OUTPUT EMULATION METHOD BASED ON A QUADRATIC ERROR FUNCTION

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    ASME PRESSURE VESSELS AND PIPING CONFERENCE - 2015, VOL 8  2015年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2015年

    記述言語:英語  

    A semi-active control method based on a controlled output of a targeted active control law is proposed in the study. As a conventional method, a semi-active control law based on the targeted active control input, e.g., a clipped optimal control and its related methods, is widely used for the vibration control of structural systems. In the present study, on the other hand, the controlled output of the targeted active control law is used as the reference of the semi-active control. The semi-active control strategy is referred to as "output emulation approach" and the authors showed a method based on the output emulation approach based on the predicted controlled output by assuming the targeted active control its the LQ optimal control law in the previous study. In this paper, a new output emulation semi-active control method with a quadratic error function between the controlled output signal of the semi-active control system and that of the targeted active control system. The semi-active control law minimizing the quadratic error function is obtained as a bang bang type switching of the variable damping coefficient of the semi-active control device. The targeted active control law is defined as a state-space control with a constraint on the closed loop pole placement. Design parameters to determine the region of the pole placement of the targeted active control system are adjusted so that the semi-active control based on the proposed output emulation approach is optimized. The effectiveness of the proposed approach is shown with a simulation example.

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  • Active/semi-active hybrid control framework for vibration control of mechanical systems

    K. Hiramoto, S. Saito

    Proc. 12th International Conference on MOVIC  2014年8月 

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    開催年月日: 2014年8月

    記述言語:英語  

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  • Output emulation approach in semi-active vibration control of structural systems

    K. Hiramoto, T. Matsuoka, K. Sunakoda

    Proc. 6th World Congress on Structural Control and Monitoring  2014年7月 

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    開催年月日: 2014年7月

    記述言語:英語  

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  • SEMI-ACTIVE CONTROL OF STRUCTURAL SYSTEMS AIMING TO APPROXIMATE THE PERFORMANCE OF THE TARGETED ACTIVE CONTROL LAW: OUTPUT EMULATION APPROACH

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE - 2013, VOL 8: SEISMIC ENGINEERING  2014年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2014年

    記述言語:英語  

    As a method for semi-active control of structural systems, the active-control-based method that emulates the control force of a targeted active control law by semi-active control devices has been studied. In the active-control-based method, the semi-active control devices are not necessarily able to generate the targeted active control force because of the dissipative nature of those devices. In such a situation, the meaning of the targeted active control law becomes unclear in the sense of the control performance achieved by the resulting semi-active control system. In this study, a new semi-active control strategy that approximates the control output (not the control force) of the targeted active control is proposed. The variable parameter of the semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the targeted active control as much as possible. Parameters of the targeted active control law are optimized in the premise of the above "output emulation" strategy so that the control performance of the semi-active control becomes good and the "error" of the achieved control performance between the targeted active control and the semi-active control becomes small.

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  • Investigation on the detailed resistance force of MRF damper

    Y. Sato, K. Sunakoda, H. Sodeyama, K. Hiramoto

    Proc. SICE Annual Conference 2013  2013年9月 

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    開催年月日: 2013年9月

    記述言語:英語  

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  • Active/semi-active hybrid control for motion and vibration control of mechanical systems

    K. Hiramoto

    Proc. SICE Annual Conference 2013  2013年9月 

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    開催年月日: 2013年9月

    記述言語:英語  

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  • Semi-active Vibration Control for Approximating the Targeted Active Control Output

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)  2013年  IEEE

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    開催年月日: 2013年

    記述言語:英語  

    As a method for semi-active control of structural systems, the active-control-based method that emulates the control force of a targeted active control law by semi-active control devices has been studied. In the active-control-based method, the semi-active control devices are not necessarily able to generate the targeted active control force because of the dissipative nature of those devices. In this study, a new semi-active control strategy that approximates the control output of the targeted active control is proposed. The variable parameter of the semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the targeted active control as much as possible. Parameters of the targeted active control law are optimized in the premise of the above "output emulation" strategy so that the control performance of the semi-active control becomes good and the "error" of the achieved control performance between the targeted active control and the semi-active control becomes small.

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  • Simultaneous design of the low order structural model and the inverse Lyapunov semi-active control law

    K. Hiramoto, T. Matsuoka, K. Sunakoda

    Proc. 15th World Conference on Earthquake Engineering  2012年9月 

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    開催年月日: 2012年9月

    記述言語:英語  

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  • Semi-active control of civil structures with a simultaneous reduced-order modeling and a tuning of the control law

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda

    American Society of Mechanical Engineers, Pressure Vessels and Piping Division (Publication) PVP  2011年 

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    開催年月日: 2011年

    記述言語:英語  

    Various semi-active control methods have been proposed for vibration control of civil structures. In contrast to active vibration control systems, all semi-active control systems are essentially asymptotically stable because of the stability of the structural systems themselves (with structural damping) and the energy dissipating nature of the semi-active control law. In this study, by utilizing the above property on the stability of semi-active control systems, a reduced-order structural model and a semi-active control law are simultaneously obtained so that the performance of the resulting semi-active control system becomes good. Based on the above fact any semi-active control laws derived from some models stabilize all real-existing structural systems that have structural damping. It means that the difference of dynamic behaviors between the real structural system and the reduced-order mathematical model in the sense of the open-loop response is no longer an important issue. In other words, we do not have to consider the closed-loop stability, which is one of the most important constraints in active control, in the process of the reduced-order structural modeling and the semi-active control design. We can only focus on the control performance of the closed-loop system with the real structure with the (modelbased) semi-active control law in obtaining the reduced-order model. The semi-active control law in the present study is based on the one step ahead prediction of the structural response. The Genetic Algorithm (GA) is adopted to obtain the reduced-order model and the semi-active control law based on the reduced order model. Copyright © 2011 by ASME.

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  • SIMULTANEOUS OPTIMAL DESIGN OF THE LYAPUNOV-BASED SEMI-ACTIVE CONTROL AND THE SEMI-ACTIVE VIBRATION CONTROL DEVICE: INVERSE LYAPUNOV APPROACH

    Kazuhiko Hiramoto, Taichi Matsuoka, Akira Fukukita, Katsuaki Sunakoda

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE 2010, VOL 8  2010年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2010年

    記述言語:英語  

    We address a simultaneous optimal design problem of a semi-active control law and design parameters in a vibration control device for civil structures. The Vibration Control Device (VCD) that is being developed by authors is used as the semiactive control device in the present paper. The VCD is composed of a mechanism of a ball screw with a flywheel for the inertial resistance force and an electric motor with an electric circuit for the damping resistance force. A new bang-bang type semiactive control law referred to as Inverse Lyapunov Approach is proposed as the semi-active control law. In the Inverse Lyapunov Approach the Lyapunov function is searched so that performance measures in structural vibration control are optimized in the premise of the bang-bang type semi-active control based on the Lyapunov function. The design parameters to determine the Lyapunov function and the design parameters of the VCD are optimized for the good performance of the semi-active control system. The Genetic Algorithm is employed for the optimal design.

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  • VIBRATION TESTS OF 3-STORY BENCHMARK STRUCTURE WITH THREE SEMIACTIVE DAMPERS

    Taichi Matsuoka, Katsuaki Sunakoda, Kazuhiko Hiramoto, Issei Yamazaki, Akira Fukukita, Chin-Hsiung Loh, Pei-Yang Lin

    PROCEEDINGS OF THE ASME PRESSURE VESSELS AND PIPING CONFERENCE 2010, VOL 8  2010年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2010年

    記述言語:英語  

    In a previous paper the authors developed a semiactive damper that generates electrical power, and carried out vibration tests using a 3-story benchmark structure at NCREE, Taiwan in 2006. At that time, the dampers were installed at 1st and 2nd floors. The damper has a large inertia mass by flywheel and controllable damping force by generator, and a load capacity of 30 kN. In the test, the damper at 1st floor was only controlled by Bang-bang control that was based on Lyapunov function. In this paper as the next step, in order to demonstrate more effectiveness of vibration suppression, the dampers are installed at all floors of the 3-story structure, and vibration tests using the same structure are carried out again in 2008. The control law which is proposed here is based on Lyapunov function or predictive switching control for all of damper at each floor. The structure has 9 m high, 3 m wide, 2 m span, 18 tons total weight. Several earthquake waves normalized to be 150 gal are inputted horizontally to the base by a shaking table, and the seismic responses of each floor are estimated quantitatively. It is obviously from the experimental results that the seismic reductions for acceleration and displacement in case of large inertia mass are much better than the case of small one, but control effect is decreasing. Because seismic reduction can be depended on a balance between inertial force and controllable damping force, and plus the one of the reason is time delay of the damper. At last, we can summarize that the semiactive damper is available for seismic isolation in practical use.

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  • SEISMIC PERFORMANCE OF VIBRATION CONTROL DEVICE THAT GENERATES POWER

    Taichi Matsuoka, Katsuaki Sunakoda, Kazuhiko Hiramoto, Issei Yamazaki, Akira Fukukita, Paul N. Roschke, Chin-Hsiung Loh, Pei-Yang Lin

    ASME PRESSURE VESSELS AND PIPING CONFERENCE, VOL 8: SEISMIC ENGINEERING  2010年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2010年

    記述言語:英語  

    In a previous paper the authors proposed a semi-active vibration control device (VCD) that generates power. The device utilizes a ball screw, and has inertial and damping forces. The damping coefficient is adjusted by altering resistance at the terminal of the power generator. A small-scale VCD was manufactured for experimental testing. Frequency responses of a small-scale spring mass structure were measured in order to confirm the effects of vibration suppression within a wide range of frequencies. In this paper, as the next step, vibration tests using a benchmark structure with an installed VCD that has a 30 kN capacity are carried out at the National Center for Research on Earthquake Engineering (NCREE) in Taiwan The benchmark structure has three stories with a 3 m height and a mass of 6 tons at each floor level for a total height and weight of 9 m and 18 tons, respectively. The VCDs arc installed between adjacent floors with steel chevron braces A simple control law that is based on a minimized Lyapunov function and employs bang-bang operation is used as a variable current controller instead of the modifying the resistance level of the VCD. Scaled earthquake motions including the Imperial Valley El Centro north-south component that is normalized to be a peak level of 0 5 m/s(2), are applied to the base of the steel framed structure in the horizontal direction by a shaking table Experimental responses of each floor for the uncontrolled and controlled cases are compared with analytical responses, and effects of vibration suppression for the large-scale model are discussed quantitatively

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  • Semi-active control of civil structures with a one-step-ahead prediction of the seismic response

    Kazuhiko Hiramoto, Taichi Matsuoka, Katsuaki Sunakoda, Akira Fukukita, Issei Yamazaki

    American Society of Mechanical Engineers, Pressure Vessels and Piping Division (Publication) PVP  2010年 

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    開催年月日: 2010年

    記述言語:英語  

    We propose a semi-active control of civil structures based on a one-step-ahead prediction of the seismic response. The vibration control device (VCD), which has been developed by authors, generates two types of resistance forces, i.e., a damping force proportional to the relative velocity and an inertial force proportional to the relative acceleration between two stories. The damping coefficient of the VCD can be changed with a command signal to an electric circuit connected to the VCD. In the present paper the command signal for changing the damping coefficient of each VCD is assumed to take two values, i.e., the command to take the maximum or minimum damping coefficient. The optimal command signal is selected from all candidates of command signals so that the Euclidean norm of the one-step-ahead predicted seismic response is minimized. As an example a semi-active control of a fifteen-story building with three VCDs is considered. The simulation results show that the proposed semi-active control achieves superior performance on vibration suppression compared with a passive control case where the damping coefficient of each VCD is fixed at its maximum value. Copyright © 2009 by ASME.

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  • LPV-BASED-METHOD AIMING AT A WIN-WIN SITUATION FOR ANALYTICAL CONTROL THEORIES AND INTELLIGENT OPTIMIZATION METHODOLOGIES

    Kazuhiko Hiramoto

    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2009, PTS A AND B  2010年  AMER SOC MECHANICAL ENGINEERS

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    開催年月日: 2010年

    記述言語:英語  

    A new collaborative control strategy between time varying design parameters in LPV plants and the feedback controllers is proposed in the present paper As the feedback control law the gain scheduling control scheme is adopted to guarantee the closed-loop L(2) gain performance against the variation of the time varying parameter in the control object. The gain-scheduling controller can be obtained in an analytical manner by solving LMIs. For the closed-loop system with the LPV plant and the gain scheduling controller Genetic algorithm (GA), known as a so-called intelligent optimization method, is applied to optimize the closed-loop response. The proposed control system has a complementary structure between the LMI-based analytical control strategy and the flexible intelligent control method that does not impair their advantages each other In this sense a win-win situation for the LMI-based gain scheduling control and the GA-based intelligent optimization is realized in the proposed approach. A simple simulation example is presented to show the effectiveness of the proposed method.

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  • Decentralized control of structural systems using a norm upper bound formulation

    J. Mohammadpour, K. Hiramoto, K.M. Grigoriadis

    Proc. 5th World Congress on Structural Control and Monitoring, #5WSCM-11  2010年 

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    開催年月日: 2010年

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  • New Windsurfer-like Approach for the Enhancement of the Closed-loop Performance: An LMI framework

    Kazuhiko Hiramoto

    2010 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS  2010年  IEEE

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    開催年月日: 2010年

    記述言語:英語  

    An LMI-based method for the simultaneous system identification and controller design is proposed in the paper. With the fact that a class of system identification problem results in an LMI optimization problem a model update with a constraint on the closed-loop performance in an approximate sense is proposed. By combining the LMI-based identification method with the LMI-based conventional controller design we propose a framework to integrate two steps, system identification and controller design. The framework enables us to obtain a good model and feedback controller simultaneously in the sense of the closed-loop performance. An iterative design algorithm similar to so-called Windsurfer Approach is presented in the paper.

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  • Integrated design of structural and semi-active control systems: Inverse Lyapunov approach

    K. Hiramoto, T. Matsuoka, A. Fukukita, K. Sunakoda

    Proc. 10th International Conference on MOVIC, #10-203  2010年 

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    開催年月日: 2010年

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  • Integrated design of system parameters, control and sensor/actuator placement for symmetric mechanical systems

    Kazuhiko Hiramoto, Javad Mohammadpour, Karolos M. Grigoriadis

    Proceedings of the IEEE Conference on Decision and Control  2009年 

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    開催年月日: 2009年

    記述言語:英語  

    In this paper, we address the problem of integrated design of output feedback control, structural damping parameters, and sensor/actuator placement to satisfy an upper bound on the closed-loop ℋ∞ or ℋ2 norm performance of externally symmetric systems. By combining results on the upper bound of the closed-loop norm for externally symmetric systems with a homotopy-like approximation of an optimization problem, we provide a formulation of the integrated design problem of minimizing the upper bound ℋ∞ or ℋ2 norm via iterative LMI optimization problems. In this formulation, the corresponding decision variables are the structural damping parameters, the static rate feedback gain, and the sensor and actuator locations. By iteratively solving the approximated LMI problem, a locally optimal solution is obtained. The method is validated on a numerical example of active collocated vibration control of a simply supported beam. ©2009 IEEE.

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  • Integrated Design of System Parameters, Control and Sensor/actuator Placement for Symmetric Mechanical Systems

    Kazuhiko Hiramoto, Javad Mohammadpour, Karolos M. Grigoriadis

    PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009)  2009年  IEEE

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    開催年月日: 2009年

    記述言語:英語  

    In this paper, we address the problem of integrated design of output feedback control, structural damping parameters, and sensor/ actuator placement to satisfy an upper bound on the closed-loop H-infinity or H-2 norm performance of externally symmetric systems. By combining results on the upper bound of the closed-loop norm for externally symmetric systems with a homotopy-like approximation of an optimization problem, we provide a formulation of the integrated design problem of minimizing the upper bound H-infinity or H-2 norm via iterative LMI optimization problems. In this formulation, the corresponding decision variables are the structural damping parameters, the static rate feedback gain, and the sensor and actuator locations. By iteratively solving the approximated LMI problem, a locally optimal solution is obtained. The method is validated on a numerical example of active collocated vibration control of a simply supported beam.

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  • Vibration tests of a three story benchmark structure with Vibration Control Device that generates power

    T. Matsuoka, K. Sunakoda, K. Hiramoto, P. Roschke

    Proc. ASCE Structures Congress 2008  2008年 

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    開催年月日: 2008年

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  • Global optimal design of dynamic parameters of robot manipulators

    Shinji Ogasawara, Kazuhiko Hiramoto, Hitoshi Doki

    PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3  2007年  IEEE

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    開催年月日: 2007年

    記述言語:英語  

    In this paper we deal with a global optimal design of dynamic parameters of robot manipulators. The dynamic characteristic of robot manipulators is uniquely determined by base parameters, which are functions of physical parameters, e.g., the mass, the moment of inertia and the damping of each link, etc.. Using the fact that the equation of motion of manipulators generally becomes an affine function on the base parameters we propose an LMI based global optimal design of the base parameters of robot manipulators. In this paper we obtain the global optimal base parameters minimizing the required energy to achieve a given task (given by the reference trajectory of the end-effector). We adopt the computed torque method as the control law for the robot manipulators. The proposed design method guarantees the global optimality of the optimized base parameters. As a design example an optimal design of the base parameters of planar two link manipulator is presented.

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  • Active gain scheduling: A collaborative control strategy between LPV plants and gain scheduling controllers

    Kazuhiko Hiramoto

    PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3  2007年  IEEE

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    開催年月日: 2007年

    記述言語:英語  

    We propose a new collaborative control strategy between time varying design parameters of the plant and the feedback controller. As the feedback control law we adopt the LMI based gain scheduling control scheme to guarantee the closed-loop L-2 gain performance against the variation of the time varying parameter of the control object. Under the gain scheduling control we propose a method for the adjustment of the time varying parameter using the theory of dissipative systems. The objective of the time varying parameter tuning is to obtain smaller L-2 norm of the controlled output. We refer to this control strategy as Active Gain Scheduling Control (AGSC) because the scheduling parameter is actively changed while the control system is working. We show that the tuning rule of the time varying design parameter becomes a bang-bang type in some cases.

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  • Numerical simulation of 3-story structure with vibration control device

    T. Matsuoka, K. Hiramoto, K. Sunakoda

    Proc. 4th International Conference on Earthquake Engineering (4ICEE)  2006年 

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    開催年月日: 2006年

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  • An energy dissipation based semi-active control of civil structures with a new mechatronic vibration control device

    K. Hiramoto, T. Matsuoka, K. Sunakoda, T. Ohtake, P. Roschke

    Proc. 4th International Conference on Earthquake Engineering (4ICEE)  2006年 

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    開催年月日: 2006年

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  • Integrated design of structural and control systems with a homotopy like iterative method

    K Hiramoto, K Grigoriadis

    ACC: Proceedings of the 2005 American Control Conference, Vols 1-7  2005年  IEEE

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    開催年月日: 2005年

    記述言語:英語  

    We consider an integrated design problem of structural and control systems. It is well known that even the simplest formulation of this problem results in a kind of a BMI problem. In this paper, a homotopy-like iterative design method based on LMIs is proposed to obtain an optimal plant and a controller simultaneously for a full-order output feedback problem. We can deal with a multiobjective problem, e.g., H-2/H-infinity control problem etc. in the proposed design method. We can also optimize structural design parameters appearing nonlinearly in the coefficient matrices of the plant state-space form using the first order approximation of the nonlinear dependence in the proposed algorithm. Several design examples show that the proposed algorithm works quite effectively for various integrated design problems.

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  • Upper bound H-infinity and H2 control for symmetric mechanical systems

    Proc. 16th IFAC World Congress  2005年 

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    開催年月日: 2005年

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  • A plant design problem for optimizing the closed-loop H-infinity norm

    K Hiramoto, A Naganawa, H Doki, G Obinata

    SICE 2003 ANNUAL CONFERENCE, VOLS 1-3  2003年  IEEE

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    開催年月日: 2003年

    記述言語:英語  

    We deal with an integrated design problem of structural and control systems. For a plant with unstable poles and zeros we consider a design problem of the plant itself for minimizing the closed-loop H-infinity norm. The design parameter of the optimal design problem is the location of unstable poles and zeros of the plant. The achievable minimum., norm of the closed-loop system can be obtained just by examining the determinant of Pick matrix defined by the unstable poles and zeros of the plant. We show the analytic relation between the unstable poles/zeros and the optimal closed-loop H-infinity norm for a class of plants with two unstable poles (and/or zeros). In the general case (the number of unstable poles/zeros is more than three) the optimal design problem can be formulated as a minimization of the maximum eigenvalue in a generalized eigenvalue problem related to Pick matrix.

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  • Integrated design of structure/control systems in micromachines

    H Ando, K Hiramoto, G Obinata

    SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5  2002年  IEEE

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    開催年月日: 2002年

    記述言語:英語  

    A design problem of active controlled micromachines has been considered in this paper. Stable two-dimensional vibration of a structure at pre-specified frequencies is sought subject to the vibration amplitude and the actuator capacity requirements. It is shown that the simultaneous optimization both on the mechanical structure and the active controller is quite useful for this kind of design problems.

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  • Integrated Optimal Design of Passive and Active elements for Hard disk Servo Systems

    Proc. of IEEE International Conference on Control Applications and IEEE International Symposium on Computer Aided Control System Design  1999年 

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    開催年月日: 1999年

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  • Integrated optimal design of passive and active elements for hard disk servo systems

    Proc. of IEEE International Conferenceon Control Applications and IEEE International Symposium on Computer Aided Control System Design  1999年 

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    開催年月日: 1999年

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  • Structural design for reduced-order H-infinity controller

    Proc. of IEEE International Conferenceon Control Applications and IEEE International Symposium on Computer Aided Control System Design  1999年 

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    開催年月日: 1999年

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  • Active control of cantilevered pipes conveying fluid with constraint on input energy

    Proc. of 4th International Symposium on Fluid-Structure Interactions, Aeroelasticity, Flow-Induced Vibration and Noise  1997年 

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    開催年月日: 1997年

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  • Actuator selection for vibration control with control energy constraint

    Proc. of 1997 ASME Design Engineering Technical Conferences  1997年 

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    開催年月日: 1997年

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  • Design method of decentralized control system via stable factorization -Approach from simultaneous stabilization-

    Preprints of 13th World Congress of IFAC  1996年 

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    開催年月日: 1996年

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  • Desigh Method of Decentralized Control System via Stable Facturization (共著)

    Preprivits of 13th World Corgress of IFAC  1996年 

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    開催年月日: 1996年

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  • Semi-active vibration control for structural systems with a variable inertia mass damper

    Issei Yamazaki, Kazuhiko Hiramoto

    The 15th International Conference on Motion and Vibration  2020年12月 

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    記述言語:英語   会議種別:口頭発表(一般)  

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  • Semi-active vibration control of structural systems based on linear approximation of switched linear system

    Kaoru Sato, Kazuhiko Hiramoto

    The 15th International Conference on Motion and Vibration  2020年12月 

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    記述言語:英語   会議種別:口頭発表(一般)  

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▶ 全件表示

産業財産権

  • PID制御装置及びそのPID制御系の制御要素を設定する方法

    長縄 明大, 平元 和彦, 森 英季, 渋谷 嗣

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    出願人:独立行政法人科学技術振興機構

    出願番号:特願2006-006309  出願日:2006年1月

    公開番号:特開2007-188322  公開日:2007年7月

    J-GLOBAL

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受賞

  • 著述賞「はじめての制御工学」

    2013年9月   計測自動制御学会  

    佐藤 和也, 平元 和彦, 平田 研二

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  • 日本機械学会東北支部技術研究賞

    2002年  

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    受賞国:日本国

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共同研究・競争的資金等の研究

  • 地震波形伝送ネットワークとAIを用いた波形未来値予測による高性能な構造振動制御

    研究課題/領域番号:19K04254  2019年4月 - 2022年3月

    日本学術振興会  科学研究費助成事業 基盤研究(C)  基盤研究(C)

    平元 和彦, 松岡 太一

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    配分額:4420000円 ( 直接経費:3400000円 、 間接経費:1020000円 )

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  • MR流体を用いた可変慣性ダンパの開発

    2016年 - 2019年

    文部科学省  科学研究費補助金(基盤研究(C)) 

    松岡太一

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    資金種別:競争的資金

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  • 制御仕様を過不足なく満たすパッシブ,アクティブ,セミアクティブ要素の系統的決定法

    2015年 - 2018年

    文部科学省  科学研究費補助金(基盤研究(C)) 

    平元和彦

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    担当区分:研究代表者  資金種別:競争的資金

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  • 高効率太陽熱発電のための高温型粒子流動層式ソーラー集熱/蓄熱システムの開発

    2013年 - 2016年

    文部科学省  科学研究費補助金(基盤研究(B)) 

    松原幸治

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    資金種別:競争的資金

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  • 係数励振によるセミアクティブダンパの時間遅れ改善

    2012年 - 2015年

    文部科学省  科学研究費補助金(基盤研究(C)) 

    松岡太一

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    資金種別:競争的資金

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  • 高齢者の転倒防止を目的とした座位バランス能力評価・訓練装置の開発

    2011年 - 2013年

    文部科学省  科学研究費補助金(基盤研究(C)) 

    巖見武裕

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    資金種別:競争的資金

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  • 制御性能最適化を指向したセミアクティブ制御における低次元モデルと制御則の決定法

    研究課題/領域番号:23560255  2011年 - 2013年

    文部科学省  科学研究費補助金(基盤研究(C))  基盤研究(C)

    平元和彦

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    担当区分:研究代表者  資金種別:競争的資金

    配分額:5200000円 ( 直接経費:4000000円 、 間接経費:1200000円 )

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  • LMIに基づくシステム同定手法とその応用に関する研究

    研究課題/領域番号:20560208  2008年 - 2010年

    文部科学省  科学研究費補助金(基盤研究(C))  基盤研究(C)

    平元和彦, 巖見武裕, 松岡太一

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    担当区分:研究代表者  資金種別:競争的資金

    配分額:4550000円 ( 直接経費:3500000円 、 間接経費:1050000円 )

    LMI(Linear Matrix Inequality:線形行列不等式)に基づく動的システムのシステム同定法に関連した問題について検討を行い,以下の成果を得た.・同定/制御の繰り返し設計について,LMIに基づくシステム同定を用いた新しい同定/制御の繰り返し設計法を検討した.・構造物の振動制御を行うデバイスの動特性モデルの導出に関連して,得られたモデルによるセミアクティブ制御手法を提案した.シミュレーションによって有効性を検証した.その結果,従来提案されているセミアクティブ制御系設計手法で達成される性能を上回る制御性能が実現可能であることが示された.・LMIによって分散型コントローラと適切な制御対象のモデルを同時に求めるための手法を提案した.

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  • 受動・準能動の双方に適応可能なダンパを備えた制振システムの研究

    研究課題/領域番号:19560224  2007年 - 2008年

    文部科学省  科学研究費補助金(基盤研究(C))  基盤研究(C)

    砂子田勝昭, 平元和彦, 松岡太一

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    担当区分:連携研究者  資金種別:競争的資金

    配分額:4160000円 ( 直接経費:3200000円 、 間接経費:960000円 )

    地震時に建物の揺れを抑制させる目的で, ボールねじと発電機を用いた振動抑制装置を開発し, その動的特性および地震時の制振性能を実験と解析により実証した. 主な成果は, (1)受動・準能動の双方に利用可能な回転慣性質量をもつ30kN用の電磁抵抗型制振装置を開発, (2)ボールねじおよび歯車を用いることによって慣性トルクが拡大されるため大きな慣性効果を得られ, (3)全高9m, 全重量18tの三層構造物に本装置を取付けて地震波加振実験を行い, 本装置の受動・準能動における制振効果とその実用性を確かめたことである.

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  • 階層構造の導入による機械システム制御系の知能化

    研究課題/領域番号:18760160  2006年 - 2007年

    文部科学省  科学研究費補助金(若手研究(B))  若手研究(B)

    平元和彦

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    担当区分:研究代表者  資金種別:競争的資金

    配分額:3500000円 ( 直接経費:3500000円 )

    時変の調整パラメータを有する機械システムの新しい制御系設計手法ついて検討を行った.制御構造を,時変設計パラメータを閉ループ性能が向上するように調整するスーパーバイザ部と,時変パラメータ変動の情報を考慮してフィードバック制御を行うコントローラの2要素・2階層と設定した.フィードバックコントローラ部は,時変パラメータの変動を考慮したLMIべ一スのゲインスケジューリングコントローラとした.この制御則を採用することによって,スーパーバイザの設計時に閉ループ系の安定性を考慮する必要性がなくなるため,種々の最適化手法を用いたスーパバイザ設計が柔軟に行えることを示し,このような階層構造を有する制御手法を,アクティブゲインスケジューリングと定義した.アクティブゲインスケジューリング手法は,閉ループノルムを最小化することを目的とした解析的な制御系設計手法と,閉ループ系の安定性等の保証は困難であるものの,閉ループ過渡応答の直接的な調整も可能で柔軟性の高い知的制御手法(ニューラルネットワークやファジィ手法など)の利点を相補的に活用可能な方法であることを示した.さらに,本手法が,制御対象中の設計変数とコントローラの統合化設計の拡張とも位置づけられることを明らかにした.提案する手法の有効性を示すため,簡単な機械系制御システムを例として,二値切替型のスーパバイザや,遺伝的アルゴリズム(GA)によるスーパ...

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  • 送水管の安定化制御のための構造系と制御系の同時最適設計

    研究課題/領域番号:12650222  2000年 - 2001年

    文部科学省  科学研究費補助金(基盤研究(C))  基盤研究(C)

    土岐仁, 平元和彦

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    担当区分:連携研究者  資金種別:競争的資金

    配分額:3600000円 ( 直接経費:3600000円 )

    本研究では,1本の断面形状可変なはりが,2本の送水管ではさまれた複合送水管を考え,閉ループ系の限界流速が最大となるように,構造系の設計変数であるはりの形状,センサ・アクチュエータ配置と,制御を行うコントローラを同時に最適設計する手法を開発した.研究期間内での成果は,以下のようである.【平成12年度】1.複合送水管のスラスタ制御系の数学モデルを求めた.はりの形状は,長手方向に等分割された各部分の幅が調整可能な段付形状と仮定した.得られた数学モデルに対して,制御エネルギー定の拘束条件の下でLQGコントローラを設計し,閉ループ限界流速を導出するための手法を開発した.2.局所ランダム探索によって,はり形状を最適化するための同時最適設計手法を開発した.種々のエネルギ拘束の下での最適形状を求めた.その結果,制御のために投入可能なエネルギが大きくなるほど最適形状における閉ループ限界流速が大きくなることが確認された.さらに,エネルギ拘束の変化に伴い,最適形状そのものが変化することがわかった.【平成13年度】1.平成12年度のシミュレーション結果を元に,複合送水管を製作した.制御を行うコントローラはパーソナルコンピュータに実装した.2.実験の結果,閉ループ限界流速の理論値との誤差は最大数%となり,モデル化が妥当であったことが証明された.3.同時最適設計された複合送水管と,構造系の最適化の後コン...

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  • 構造系と制御系の同時最適設計法の開発:構造設計のより初期段階への適用を目指して

    研究課題/領域番号:10750161  1998年 - 1999年

    文部科学省  科学研究費補助金(奨励研究(A))  奨励研究(A)

    平元和彦

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    担当区分:研究代表者  資金種別:競争的資金

    配分額:2000000円 ( 直接経費:2000000円 )

    制御対象の設計と制御を行うコントローラを,制御対象の設計初期段階から同時に最適設計する(構造系と制御系の同時最適設計)手法の確立を目的として研究を行った.この設計問題で最適化される設計変数は,以下のように分類される.1.制御対象中の設計変数(1)センサ設置数,構造部材の材質等の離散的にしか調整できない設計変数(2)構造の形状,センサ配置等の連続的に調整可能な設計変数2.コントローラ中の設計変数(1)PID制御の各ゲイン,LQ制御問題における二次形式評価関数の重み行列これらの設計変数を同時に最適化する問題は,いわゆる混合多目的最適化問題となる.この問題に対して,従来提案されてきた傾斜法に基づく構造系と制御系の同時最適設計の手法が適用可能かどうか検討した.その結果,従来の設計手法の単純な応用では,本問題に対して,実用的な計算量で最適な設計変数を求めることが不可能であることが分かった.そこで,従来手法とは異なる最適化手法として,最適化の過程に確率的選択を導入した確率的最適化手法の適用を提案した.本研究では,確率的最適化手法の一つである"擬似焼きなまし法"を用いて同時最適設計を行うことを提案した.提案する設計手法を確認するための設計例として,はり状構造物の同時最適設計問題を取り上げ,良好な結果を得た.以上の研究成果は論文にまとめて投稿し,掲載が決定され,現在印刷中である.さらに,本最...

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  • ゲインスケジューリングによる送水管の安定化制御

    研究課題/領域番号:09650261  1997年 - 1998年

    文部科学省  科学研究費補助金(基盤研究(C))  基盤研究(C)

    土岐仁, 平元和彦, 大日方五郎

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    担当区分:連携研究者  資金種別:競争的資金

    配分額:900000円 ( 直接経費:900000円 )

    構造物の振動を抑制する方法として,これまでは主に受動的制振法が用いられてきたが,設計パラメータや系の特性の変動に対して制振性能が著しく低下してしまうという問題がある.それに対し,外部からエネルギを投入して制振する能動的制振法は,コントローラをロバストに設計することにより制御対象の変動に対しても制振性能の劣化を小さくすることが可能である.本研究者らは能動的制御手法が送水管の不安定現象に対しても非常に有効であることを示してきた.また,アクチュエータが発生可能な操作エネルギに拘束条件を有するコントローラを設計し,拘束条件の違いが送水管の不安定現象抑制にどのように影響するかを考察してきた.しかし,これらの方法では,ある固定された流速に対してコントローラを設計していたため,制御による限界流速の向上に関しては限界があった.送水管の動特性は管内流速をパラメータとして変化するから,流速変化に応じてコントローラを連続的に変更できれば,より高い流速でも制御が可能になる.本研究では,このような制御を実現するため,ゲインスケジューリングの手法の一つであるパラメータ凍結法を採用し,送水管の不安定現象の抑制を試みた.はじめに,Galerkin法により送水管の集中定数モデルを管内流速の関数として求め,次いで,複数の固定された流速値に対してLQG理論によりコントローラを設計し,得られた複数のコントローラを管...

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  • セミアクティブ振動制御系設計に関する研究

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    資金種別:競争的資金

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  • Application of Simultaneous optimal design to mechatronics devices

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    資金種別:競争的資金

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  • 振動系やロボットを対象とする構造と制御の統合化設計に関する研究

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    資金種別:競争的資金

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  • 生体運動のモデル化や解析に関する研究

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    資金種別:競争的資金

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  • モデルとコントローラ設計の一体化に関する研究

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    資金種別:競争的資金

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  • Study on Simultaneous Optimization of Structural and Coutrol Systems

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    資金種別:競争的資金

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