Details of a Researcher - Namerikawa, Toru

Papers - Namerikawa, Toru

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Wide area stabilization of a magnetic bearing using exact linearization

Matsumura Fumio, Namerikawa Toru, Murata Noriyuki

Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) (TECHNOMIC PUBL CO INC) 128 ( 2 ) 53 - 62 1999.07

Accepted, ISSN 0424-7760

An active magnetic bearing (AMB) is a bearing used to suspend a rotor by magnetic forces without any contact. Feedback control is indispensable for a magnetic bearing, because it is essentially an unstable system. To design a feedback control system, a linear mathematical model of the plant is convenient; however, the force of the electromagnet is highly nonlinear. Thus, usually a linear approximation around the operating point is employed, but the obtained linearized model cannot express the exact behavior of the system at any other operating points. In this paper, we discuss the wide area stabilization of magnetic bearings using the exact linearization approach. First, we derive a nonlinear mathematical model for a magnetic bearing, then we show that this nonlinear system belongs to a class of exactly linearizable nonlinear systems. Next, by using the exact linearization method, we transfer the nonlinear model of a magnetic bearing to a linear time-invariant state model in spite of change of the operating point and the rotational speed of the rotor. Then we construct the state feedback control system by the conventional LQ method. Finally, we evaluate the validity of our proposed method by experiments.

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厳密な線形化による磁気軸受の広域安定化

松村文夫, 滑川徹, 村田徳之

電気学会論文誌D (電気学会) 118D ( 3 ) 410-416 - 410 1998.03

Research paper (scientific journal), Joint Work

本論文では厳密な線形化を用いて磁気軸受の広域安定化を行った．まず磁気軸受に対して非線形モデルを導出し，その非線形モデルが非線形な座標変換と入力変換により厳密線形化可能であることを証明した．そして厳密線形化手法を用いて非線形情報を保存した線形モデルを導出し，線形モデルに対して最適制御により状態フィードバックを設計した．最後に制御実験により，動作点移動，ロータの回転速度変化に対する制御性能・安定性の有効性検証を行った．

CiNii Research

Uncertainty structure and mu-design of a magnetic suspension system

T Namerikawa, M Fujita, F Matsumura

PROCEEDINGS OF THE SIXTH INTERNATIONAL SYMPOSIUM ON MAGNETIC BEARINGS (TECHNOMIC PUBL CO INC) 439 - 448 1998

Accepted

This paper deals with modeling, structured uncertainties, mu-analysis and synthesis of a magnetic suspension system. First we derive a nominal model of the plant and consider its structured uncertainties e.g., linearization error, parametric uncertainties, and neglected dynamics. Then we set the interconnection structure which includes the above structurally represented uncertainties. Next we design a robust mu controller which achieves robust performance condition using the structured singular value mu. Finally we evaluate the proposed interconnection structure and verify robustness and performance of the designed mu controller by experiments.

Experimental Verification on Gain Scheduled H∞ Robust Control of a Magnetic Bearing

T. Namerikawa, M. Fujita and F. Matsumura

JSME Int. Journal, Ser. C (JSME) 40 ( 4 ) 561-569 - 569 1997.12

Research paper (scientific journal), Joint Work, ISSN 1340-8062

This paper deals with the problem of gyroscopic effect and unbalance vibration of the Magnetic Bearing system. Using a gain scheduled Hm control with a free parameter phi, we design a control system which attenuates the unbalance vibration, and guarantees the stability against the gyroscopic effect in specified rotational speed. Further we implement the controller and evaluate the effectiveness of the proposed approach by experiments. First, our experimental setup is explained, a mathematical model of the magnetic bearing is derived. Then, we introduce the gain scheduled H infinity control with free parameters to a magnetic bearing control, in order to reject the disturbances caused by unbalance of the rotor, and guarantee the stability against gyroscopic effect, even if rotational speed of the rotor changes. At last, several experimental results show the effectiveness of this proposed method.

Experimental Verification on Gain Scheduled H∞ Robust Control of a Magnetic Bearing

Namerikawa Toru, Fujita Masayuki, Matsumura Fumio

JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing (JSME) 40 ( 4 ) 561 - 569 1997.12

ISSN 1344-7653

This paper deals with the problem of gyroscopic effect and unbalance vibration of the Magnetic Bearing system. Using a gain scheduled H∞ control with a free parameter Φ, we design a control system which attenuates the unbalance vibration, and guarantees the stability against the gyroscopic effect in specified rotational speed. Further we implement the controller and evaluate the effectiveness of the proposed approach by experiments. First, our experimental setup is explained, a mathematical model of the magnetic bearing is derived. Then, we introduce the gain scheduled H∞ control with free parameters to a magnetic bearing control, in order to reject the disturbances caused by unbalance of the rotor, and guarantee the stability against gyroscopic effect, even if rotational speed of the rotor changes. At last, several experimental results show the effectiveness of this proposed method.

磁気浮上系におけるセンサ支持板の共振と制御剛性

原外満, 滑川徹, 松村文夫

日本AEM学会誌 (日本AEM学会) 5 ( 3 ) 34-40 1997.09

Research paper (scientific journal), Joint Work

本論文は磁気浮上系・磁気軸受における変位センサ支持板の共振と制御剛性に関して検討している．本稿ではセンサ支持板の変位を考慮した状態方程式を導出した．この式を基にセンサ支持板の共振周波数とフィードバックゲイン，およびロータ質量に関する不安定条件を導出し，これらのパラメータ空間上で不安定領域を明らかにした．またこの領域を避けることにより良好な実験結果が得られた．

H-infinity control of a robot manipulator using a linear parameter varying representation

T Namerikawa, M Fujita, F Matsumura

PROCEEDINGS OF THE 1997 AMERICAN CONTROL CONFERENCE, VOLS 1-6 (I E E E) 111 - 112 1997

Accepted, ISSN 0743-1619

Modeling and robustness analysis of a magnetic suspension system considering structured uncertainties

T Namerikawa, M Fujita

PROCEEDINGS OF THE 36TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-5 (IEEE) 2559 - 2560 1997

Accepted, ISSN 0191-2216

This paper deals with modeling, uncertainty description and robustness analysis of a magnetic suspension system. First we derive a nominal model of the plant and consider its uncertainties e.g., linearization error, parametric uncertainties, and neglected dynamics. Then we set the interconnection structure which includes the above structurally represented uncertainties. Next the analysis of robust stability/performance for the obtained interconnection structure with three-types controllers by mixed structured singular value (mixed mu). Finally we evaluate the robustness of the proposed models and analytic results by experiments.

3点法による真円度測定における高次成分算出の試行

原外満, 滑川徹, 松村文夫

日本機械学会論文集（C編） (日本機械学会) 62 ( 604 ) 172-178 - 4596 1996.12

Research paper (scientific journal), Joint Work

本論文では３点法における高次成分の良好な再現方法について議論している．計算不可能な設定角の領域を明確にし，この角度を避けて真円度を測定することにより，目標次数までのすべてのフーリエ成分を求めることが出来ることを示した．また設定角の測定誤差を小さくするためには，３台のセンサの出力信号波形の合同性が重要であることを明らかにし，合同性を容易に検査する手法の一例を示した．

CiNii Research

Application of Gain Scheduled H∞ Robust Controllers to a Magnetic Bearing

F. Matsumura,T. Namerikawa, K. Hagiwara and M. Fujita

IEEE Trans. on Control Systems Technology (IEEE) 4 ( 5 ) 484-493 - 493 1996.09

Research paper (scientific journal), Joint Work, ISSN 1063-6536

This paper deals with the problem of an unbalance vibration zof the magnetic bearing system, We design a control system achieving the elimination of the unbalance vibration, using a loop shaping design procedure (LSDP), After the introduction of our experimental setup, a mathematical model of the magnetic bearing is shown, Then, the gain scheduled H-infinity robust controllers with free parameters are designed, based on the LSDP, so as to asymptotically reject the disturbances caused by unbalance on the rotor, even if the rotational speed of the rotor varies, Finally, several simulation results and experimental results show the effectiveness of this proposed methodology.

磁束密度負帰還による磁気軸受電磁石の応答速度改善に関する検討

原外満, 滑川徹, 松村文夫

日本AEM学会誌 (日本AEM学会) 4 ( 3 ) 54-59 - 59 1996.09

Research paper (scientific journal), Joint Work, ISSN 0919-4452

本論文では磁気軸受の高剛性化を目的として，磁束密度フィードバックによる磁気軸受電磁石の応答速度改善に関して議論した．電流―電磁力伝達特性は，渦電流が無視出来ない高周波領域ではゲインが低下し，位相が遅れる．この問題を解決するために本稿では渦電流の作用を考慮した磁束密度フィードバック法を提案した．これにより電磁石の応答速度が改善し，磁気軸受を安定浮上回転させる際にロータの１次曲げモード共振周波数の減衰・消滅を達成した．

CiNii Research

平行リンクロボットマニピュレータのロバストH∞制御

滑川徹, 藤田政之, 松村文夫

電気学会論文誌D (電気学会) 116D ( 2 ) 207 - 215 1996.02

Research paper (scientific journal), Joint Work

本論文ではH∞制御理論に基づくロバスト制御系設計法をロボットマニピュレータに適用した．リンク間の干渉とマニピュレータの重力項を構造的な不確かさとして取り扱い，その不確かさに対しても安定性と制御性能を保持する制御系の設計を行った．ロバスト安定性を保持するためにスモールゲイン定理に基づくH∞制御を用い，制御系解析の保守性を軽減するために定数スケーリング行列を導入した．最後に制御実験を行い，提案法の有効性を検証した．

CiNii Research

A linear parameter varying approach to a gain scheduled flexible joint robot

T Namerikawa, M Fujita, F Matsumura

AMC '96-MIE - 1996 4TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, VOLS 1 AND 2 (I E E E) 653 - 656 1996

Accepted

リニア直流モータを用いたパンタグラフ基礎実験システムの H∞制御

滑川徹, 磯部真一, 松村文夫

電気学会論文誌D (電気学会) 115-D ( 11 ) 1412-1419 - 1419 1995.11

Research paper (scientific journal), Joint Work

本稿ではリニア直流モータをアクチュエータとして用いるパンタグラフ基礎実験装置において, 種々の力外乱に対しても架線-パンタグラフ間の接触圧を一定にするレギュレータ問題を扱った．本研究では時間応答に対する制御性能を考慮したH∞制御系設計を行い，特に被制御量に重みをかけることにより，時間領域でのレギュレーションと応答特性の改善を図った．パンタグラフ基礎実験装置での力制御実験を行い，有効性を確認した.

CiNii Research

μ-synthesis of an electromagnetic suspension system

Fujita Masayuki, Namerikawa Toru, Matsumura Fumio, Uchida Kenko

IEEE Transactions on Automatic Control 40 ( 3 ) 530 - 536 1995.03

Research paper (scientific journal), Accepted, ISSN 0018-9286

This paper deals with μ-synthesis of an electromagnetic suspension system. First, an issue of modeling a real physical electromagnetic suspension system is discussed. We derive a nominal model as well as a set of models in which the real system is assumed to reside. Different model structures and possible model parameter values are fully employed to determine unstructured additive plant perturbations, which directly yield uncertainty frequency weighting function. Second, based on the set of plant models, we setup robust performance control objectives. Third, we make use of the D-K iteration approach for the controller design. Finally, implementing the controller with a digital signal processor, experiments are carried out. With these experimental results, we show robust performance of the designed control system.

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DIGITAL IMPLEMENTATION OF ROBUST MU-CONTROL FOR A ROBOT MANIPULATOR

M FUJITA, T NAMERIKAWA, K UCHIDA

PROCEEDINGS OF THE 1994 AMERICAN CONTROL CONFERENCE, VOLS 1-3 (I E E E) 2450 - 2454 1994

Accepted

Robust control of a robot manipulator using a linear parameter varying representation

T Namerikawa, F Matsumura, M Fujita

PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT'96) (I E E E) 489 - 492 1994

Accepted

In this paper, we present a robust control for a flexible-joint robot manipulator using linear parameter varying representation. The robot manipulator dynamics can be brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the scheduling variables are the joint angles q. which are state variables. Using a quasi-LPV form, we design a robust controller by mu-synthesis to achieve robust performance specification.

MU-SYNTHESIS OF AN ELECTROMAGNETIC SUSPENSION SYSTEM

M FUJITA, T NAMERIKAWA, F MATSUMURA, K UCHIDA

PROCEEDINGS OF THE 31ST IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4 (I E E E) 2574 - 2579 1992

Accepted

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