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1. 发明专利

JPS6472772A CONTROLLING APPARATUS FOR MAN-MACHINE LINEAR MOVEMENT 失效
公开(公告)号：JPS6472772A
公开(公告)日：1989-03-17
申请号：JP23055587
申请日：1987-09-14
申请人： FURUTA KATSUHISA , NIPPON TELEGRAPH & TELEPHONE , SHOWA ELECTRIC WIRE & CABLE CO
发明人： FURUTA KATSUHISA , NIMIYA NAOYUKI , SUGIYAMA NORIO , ASAKA KAZUHIKO
IPC分类号： A63F9/00 , A63B71/02
摘要： PURPOSE: To make the man-to-machine action similar to the man-to-man action by providing a virtual model part for inputting an outer manipulated variable and a reference set value and operating the change amount of a controlled system and a control part for supplying the manipulated variable to a motor controller corresponding to the operated output. CONSTITUTION: When a team A pulls a rope R wound around a pulley P of a motor-driven tug-of-war machine 2 with tensile force f1 , that tensile force f1 is measured through a tensile force meter 3 and inputted to a virtual model part 4. Besides, a reference set value f2 strengthened/weakened with the passage of time and previously programmed by a ROM so as to be approximated to a real tug of war is inputted to the virtual model part 4 as well. At the virtual model part 4, xr , xr , xr are operated from f1 , f2 , k' and K and at a control part 5, a manipulate signal (u) is operated from difference xr -X between a displaced amount (x) of the tug-of-war machine 2 of a controlled system 1 and a change amount xr , the kinetic equation at the time of modeling the controlled system 1 and the kinetic equation of the motor-driven tug-of-war machine 2. Corresponding to this operated output, a manipulated variable output τ is applied to the motor-driven tug-of-war machine 2.

2. 发明专利

JPS6472771A CONTROLLING APPARATUS UTILIZING COMMUNICATION CIRCUIT FOR MAN-MACHINE LINEAR MOVEMENT 失效
公开(公告)号：JPS6472771A
公开(公告)日：1989-03-17
申请号：JP23055487
申请日：1987-09-14
申请人： FURUTA KATSUHISA , NIPPON TELEGRAPH & TELEPHONE , SHOWA ELECTRIC WIRE & CABLE CO
发明人： FURUTA KATSUHISA , NIMIYA NAOYUKI , SUGIYAMA NORIO , ASAKA KAZUHIKO
IPC分类号： A63F9/00 , A63B71/02 , H04Q9/00
摘要： PURPOSE: To make the man-to-machine action similar to the man-to-man action by providing a virtual model part for inputting an outer manipulated variable and respectively operating the change amount of a controlled system and a control part for respectively supplying the manipulated variable to a motor controller corresponding to the operated output. CONSTITUTION: When teams A and B pull ropes R1 and R2 wound around pulleys P and P' of motor-driven tug-of-war machines 2 and 2' with tensile force x1 and x2 , that tensile force f1 is measured through a tensile force meter 3 and inputted to virtual model parts 4 and 4'. Besides, tensile force f2 is inputted to the virtual model parts 4 and 4' as well. At the virtual model parts 4 and 4', xr , xr , xr (xr , xr , xr ) is operated from f1 , f2 , k' and K, manipulate signals (u) and u' are operated from difference xr -x1 and xr -x2 between displaced amounts x1 and x2 of tug-of-war machines 2 and 2' of controlled systems 1 and 1' and a change amount xr , kinetic equation at the time of modeling the controlled systems 1 and 1', and the kinetic equation of motor-driven tug-of-war machines 2 and 2' and corresponding to this operated output, manipulated variable outputs τ1 and τ2 are applied to the motor-driven tug-of-war machines 2 and 2'.

3. 发明专利

JPS58175217A EXTRUSION LINE CONTROL SYSTEM FOR FOAMABLE INSULATED WIRE 失效
公开(公告)号：JPS58175217A
公开(公告)日：1983-10-14
申请号：JP4054382
申请日：1982-03-15
申请人： FURUTA KATSUHISA , SHOWA ELECTRIC WIRE & CABLE CO
发明人： FURUTA KATSUHISA , NAKAMURA YOSHINORI , ASAKA KAZUHIKO
IPC分类号： B29C47/02 , B29B7/00 , B29C47/00 , B29C47/78 , B29C48/92 , B29K105/04 , G05B11/32 , G05D27/00 , H01B13/14

4. 发明专利

JPH0256601A CONTROLLER FOR KINETIC MACHINE SYSTEM 失效
公开(公告)号：JPH0256601A
公开(公告)日：1990-02-26
申请号：JP20885488
申请日：1988-08-23
申请人： FURUTA KATSUHISA , SHOWA ELECTRIC WIRE & CABLE CO , NIPPON SEIKO KK
发明人： FURUTA KATSUHISA , NAKAMURA AKIRA , KOBAYASHI HIDEYUKI
IPC分类号： G05B13/00 , B25J9/10 , G05B13/02
摘要： PURPOSE:To obtain a satisfactory response even when a dynamic characteristic of a kinetic machine system being a control object by generating a control input for shifting a deviation between a controlled variable and a target value to a stable phase face in accordance with a non-linear control law. CONSTITUTION:By an arithmetic means 12, a deviation (s) from a designated stable phase face is operated from a deviation (e) between a controlled variable (x) of a control object and a target value (r), and in an adaptive means 13, a parameter thetaof the control object is identified so that the deviation (e) between the controlled variable (x) of the control object and the target value (r) becomes minimum by using a result of its operation. In a controller 14, a control input tau is generated so as to shift the deviation (e) between the target value (r) and the controlled variable (x) to a designated stable phase face by a non-linear control law by using the deviation (s) obtained by the arithmetic means 12 and the parameter theta identified by the adaptive means 13. The non-linear control law used in this case has an integral function for setting the deviation (e) between the controlled variable (x) in a stationary state and the target value (r) to '0'. In such a way, even when a dynamic characteristic of a kinetic machine system being the control object is varied, and error is compensated and a stable response is obtained.

5. 发明专利

JPS58175218A EXTRUSION LINE CONTROL SYSTEM FOR FOAMABLE INSULATED WIRE 失效
公开(公告)号：JPS58175218A
公开(公告)日：1983-10-14
申请号：JP4054482
申请日：1982-03-15
申请人： FURUTA KATSUHISA , SHOWA ELECTRIC WIRE & CABLE CO
发明人： FURUTA KATSUHISA , NAKAMURA YOSHINORI , ASAKA KAZUHIKO
IPC分类号： B29C47/02 , B29B7/00 , B29C47/00 , B29C47/78 , B29C48/92 , B29K105/04 , G05B11/32 , G05D27/00 , H01B13/14

6. 发明专利

JPS5819902A CONTROLLING SYSTEM FOR ENAMELED WIRE BAKING FURNACE 失效
公开(公告)号：JPS5819902A
公开(公告)日：1983-02-05
申请号：JP11798781
申请日：1981-07-28
申请人： FURUTA KATSUHISA , SHOWA ELECTRIC WIRE & CABLE CO
发明人： FURUTA KATSUHISA , HIRAI TAKESHI , NAKAMURA YOSHINORI
IPC分类号： B05D7/20 , G05B11/32 , G05D23/19 , H01B13/16
摘要： PURPOSE:To improve the responsiveness by defining the output, which is obtained by integrating the operation quantity obtained from the difference between a target value and a control quantity, as an operation quantity in case that plural measured quantities including plural control quantities are fluctuated by any of plural operation quantities. CONSTITUTION:In case that plural control quantities, for example, temperatures Y1-Y5 of respective parts of an enameled wire baking furnace 30 are fluctuated by any of plural operation quantities (opening quantities of a damper) U1-U5, differences epsilon1-epsilon4 between these control quantities and control target values YR1-YR4 are obtained. These differences are inputted to an operating element C to obtain operation variables U'C1-U'C5', and variables UC1-UC5 are obtained by integrators I1-I5 and are added to operation quantities U1-U5 respectively through a limiter L. Feedback quantities UF1-UF5 are obtained through a feedback element F from points 31, and feed-forward quantities UN1-UN5 are obtained through a feed-forward element N from points 34, and they are operated in a part 33. Thus, a control having the excellent responsiveness is possible. This system is suitable for the temperature control of the enameled wire baking furnace.

7. 发明专利

JPH0555881B2 失效
公开(公告)号：JPH0555881B2
公开(公告)日：1993-08-18
申请号：JP11798781
申请日：1981-07-28
申请人： FURUTA KATSUHISA , SHOWA ELECTRIC WIRE & CABLE CO
发明人： FURUTA KATSUHISA , HIRAI TAKESHI , NAKAMURA YOSHINORI
IPC分类号： B05D7/20 , G05B11/32 , G05D23/19 , H01B13/16

8. 发明专利

JPS58157007A EXTRUSION LINE CONTROL SYSTEM FOR HIGHLY FOAMABLE INSULATED WIRE 失效
公开(公告)号：JPS58157007A
公开(公告)日：1983-09-19
申请号：JP4054582
申请日：1982-03-15
申请人： FURUTA KATSUHISA , SHOWA ELECTRIC WIRE & CABLE CO
发明人： FURUTA KATSUHISA , NAKAMURA YOSHINORI , ASAKA KAZUHIKO
IPC分类号： H01B13/14 , B29B7/00 , B29C47/00 , B29C48/38 , B29C48/92 , G05B11/32 , G05D27/00

9. 发明专利

JP2654328B2 失效
公开(公告)号：JP2654328B2
公开(公告)日：1997-09-17
申请号：JP5103293
申请日：1993-03-11
申请人： FURUTA KATSUHISA , OOKURA DENKI KK
发明人： FURUTA KATSUHISA , ABE AKIRA , ITO AKINORI , MANABE HIROTSUNE
IPC分类号： F27D19/00 , G05B11/32 , G05B13/04 , G05B17/02 , G05D23/19

10. 发明专利

JPH03245201A SHORTEST TIME CONTROLLER 失效
公开(公告)号：JPH03245201A
公开(公告)日：1991-10-31
申请号：JP4297490
申请日：1990-02-23
申请人： FURUTA KATSUHISA , NIPPON SEIKO KK
发明人： FURUTA KATSUHISA , KOBAYASHI SEIICHI
IPC分类号： G05B13/02 , G05B13/00
摘要： PURPOSE:To minimize the control time by selecting the control gain of the shortest time in order to eliminate the deviation caused between a controlled variable and the target value within an input limit range in sampling and then generating an input to be applied a control subject. CONSTITUTION:When the initial value of a state variable of the position, the velocity, etc., is given to a control subject 11 having the limitation of input, an arithmetic means 12 calculates (m) pieces of control gain Fc in order to set the state value at '0' in (m) hours from the present point. Then a controller 13 selects one of these gains Fc so as to set the deviation et caused between a controlled variable Xt calculated by an adder 14 within an input limit range and the target value Xd at '0' the shortest time. An input Ut is obtained from the gain Fc and the deviation et and inputted to the subject 11. Thus it is possible to obtain a controller that can produce an input coincident with the value Xd in the shortest time.

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