慶應義塾研究者情報データベース

論文 【 表示 ／ 非表示 】

論文 【 表示 ／ 非表示 】

• Robust Control of an Electrical Drive with a Flexible Joint Using PI Controllers Based on Torsional Torque Derivative Feedback

  Kahsay A.H., Derugo P., Shikata K., Katsura S., Szabat K.

  Energies 19 （ 1 ）  2026年01月

  　概要を見る

  Electric drives are responsible for torque generation in most industrial processes and devices, including electromobility. The operational performance of industrial drives is often limited by torsional vibrations and time-varying load inertia. To address these challenges, this paper proposes and compares three robust control structures based on PI controllers augmented with additional feedback from the first and second derivatives of torsional torque. A higher-order integral disturbance observer (IDO) is employed to estimate the unmeasurable derivatives of torsional torque, enabling accurate compensation. Furthermore, a bio-inspired optimization algorithm (Britch-inspired Optimization Algorithm, BiOA) is utilized to determine the optimal gain coefficients for the PI controller and the additional feedback loops. The proposed methodologies are validated through simulations and experimental testing on a physical setup, demonstrating improved reference-trajectory tracking and enhanced torsional vibration suppression under varying load conditions.

  • Access to Document (DOI)

• Vibration Suppression in Torsional Systems Robust to Load-Inertia Variations Using Wave Control

  Shikata K., Szabat K., Katsura S.

  IEEE Transactions on Industry Applications 2026年

  ISSN  00939994

  　概要を見る

  This paper presents a vibration suppression approach for systems with elastic couplings, which combines standard control and observation structures with a novel wave-space transformation. By formulating the system dynamics as a wave system and designing a traveling wave controller to reject reflected waves, the proposed method achieves robust vibration suppression against variations in load-side inertia. Unlike conventional approaches that rely on online identification or adaptive mechanisms, which inherently require persistent excitation and may compromise suppression performance, the proposed method eliminates the need for such estimation. The paper details the modeling, controller design, and state-estimation scheme. Experimental results validate the effectiveness of the proposed method, showing superior immunity compared with conventional ones under varying load-side conditions and discussing the criteria for parameter selection for the observers and controller.

  • Access to Document (DOI)

• Itch Relief with Peltier Devices: Temperature Illusion to Break the Vicious Cycle of Itching

  Shikata K., Hisashiki R., Mine K., Muramatsu H.

  Journal of the Institute of Electrical Engineers of Japan 145 （ 5 ） 274 - 277 2025年05月

  ISSN  13405551

  • Access to Document (DOI)

• The Game of Life: Beyond SDGs - Advancing a Sustainable Society Through Gamification

  Shikata K., Mine K., Saito R., Tsuda N., Tsuruok N.

  Journal of the Institute of Electrical Engineers of Japan 145 （ 1 ） 44 - 47 2025年01月

  ISSN  13405551

  • Access to Document (DOI)

• Quasi-Real-Time Motion Control via Measured Sampling Periods

  Shikata K., Katsura S.

  IECON Proceedings Industrial Electronics Conference 2025年

  ISSN  21624704

  　概要を見る

  This study introduces quasi-real-time (QRT) motion control, explicitly incorporating measured sampling periods into the digital control loop. Digital control in mechatronic systems typically relies on the assumption of fixed sampling periods. However, practical systems often experience sampling fluctuations due to hardware limitations, sensor-related interrupt processing, and communication delays. To address this issue, a systematic discretization method for continuous-time transfer functions is proposed to enable controller, observer, and filter design under sampling fluctuations. Experimental results demonstrate that the proposed approach performs more robustly than conventional fixed-sampling implementations. QRT motion control relaxes stringent real-time (RT) constraints and is a foundation for user-friendly, general-purpose operating system (GPOS)-based RT execution frameworks in advanced mechatronic applications.

  • Access to Document (DOI)

全件表示 >>

担当授業科目 【 表示 ／ 非表示 】

担当授業科目 【 表示 ／ 非表示 】

• 理工学基礎実験

  2026年度

• プログラミング演習

  2026年度

• システムデザイン工学実験第２

  2026年度