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小坂　学 （コサカ　マナブ）

  • 理工学部 機械工学科　教授
Last Updated :2024/04/19

コミュニケーション情報 byコメンテータガイド

  • コメント

    （１）１回の実験データを用いてPIDゲインを設計するV-Tigerを考案しました。（２）電気自動車やエアコン用圧縮機のモータ・センサレス制御。企業で10年間製品を研究開発しました。（３）麻痺した手足を再び動かせる機能的電気刺激。

  • 報道関連出演・掲載一覧

    ＜報道関連出演・掲載一覧＞ ●2018/11/7 　毎日新聞 　フィードバック制御研究について ●2017/3/26 　関西テレビ「偽笑罪」 　タレントの実体験が起こりうるかどうかについて解説

研究者情報

学位

  • 博士(工学)（大阪府立大学）
  • 修士(工学)（大阪府立大学）

ホームページURL

J-Global ID

研究キーワード

  • V-Tiger   同定   モータ   制御応用   Functional electorical stimulation   Motor   Identification   Control   

現在の研究分野（キーワード）

    （１）１回の実験データを用いてPIDゲインを設計するV-Tigerを考案しました。（２）電気自動車やエアコン用圧縮機のモータ・センサレス制御。企業で10年間製品を研究開発しました。（３）麻痺した手足を再び動かせる機能的電気刺激。

研究分野

  • 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 / 制御

経歴

  • 1991年 - 2001年  ダイキン工業株式会社電子技術研究所
  • 2001年  近畿大学理工学部 機械工学科

学歴

  •         - 1999年   大阪府立大学   工学研究科 博士後期課程   電気情報系
  •         - 1991年   大阪府立大学   工学研究科 博士前期課程   電子工学専攻
  •         - 1989年   大阪府立大学   工学部   電子工学科

所属学協会

  • ASME   システム制御情報学会   計測自動制御学会   日本機械学会   

研究活動情報

論文

  • 小坂 学
    計測自動制御学会論文集 59 4 212 - 223 2023年04月
  • 小坂 学
    計測自動制御学会論文集 59 2 62 - 69 2023年02月
  • 水野裕太; 八瀬快人; 竹本康彦; 梶原伸治; 小坂学
    システム制御情報学会論文誌 36 11 383 - 391 2023年 [査読有り][招待有り]
  • 大西 甚名; 八瀬 快人; 池田 篤俊; 竹本 康彦; 梶原 伸治; 大坪 義一; 小坂 学
    日本機械学会論文集 89 924 23-00104 - 23-00104 一般社団法人 日本機械学会 2023年 
    Pneumatic rubber artificial muscles are nearly ideal for power assistance, medical care, and rehabilitation due to their lightweight drive unit made of rubber, which is soft and safe for human use. However, they have complex nonlinearities, including input saturation, hysteresis, and changes in static characteristics due to shrinkage. Additionally, when used with a human subject, the artificial muscle control system’s characteristics may vary based on the person’s physique, fitness, temperature, and the rubber’s deterioration. Therefore, it is desirable to be able to auto-tune the PID and other controllers in a short time before use. Data-driven controls such as FRIT and VRFT are suitable for auto-tuning in a short time. Among them, V-Tiger presented a procedure for predicting the actual closed-loop response and its Confidence interval. However, V-Tiger is not applicable to nonlinear systems with input saturation. This paper describes a procedure for (1) tuning PID gains by predicting the closed-loop response with V-Tiger in the presence of input saturation, (2) obtaining Confidence intervals for the predicted response affected by input saturation, and (3) how to use the Confidence intervals to apply this method to nonlinear systems.
  • 小坂 学
    日本機械学会論文集 87 893 2021年01月 [査読有り]
  • M. Kosaka
    In the proc. of the IFAC World Congress 56 4 398 - 235 公益社団法人 計測自動制御学会 2020年07月 [査読有り]
     
    Fictitious Reference Iterative Tuning (FRIT) have been reported for many applications, in which the control gain can be optimized so that the closed loop system corresponds with the reference model based on only one experiment data. However, when the reference model is not appropriate, there is a problem that not only the control performance is deteriorated but also the control system may become unstable. Instead of using model matching to the closed-loop reference model, we thought that this problem could be solved by optimizing the settling time and overshoot. To measure settling time and overshoot, the time response is required. The time response can be predicted using Kaneko's method [Takahashi, 2019], but this method requires the order of the closed loop transfer function. In this paper, the method [Takahashi, 2019] is reconsidered as a frequency response based method so that the order is not required. Furthermore, as another approach of FRIT, this paper proposes a method called ‘Virtual Time-response based Iterative Gain Evaluation and Redesign’ (V-Tiger) which iterates to measure the overshoot and settling time from the virtual time responses, and to evaluate and redesign the controller gain.
  • 小坂 麻人; 小坂 彩人; 池田 篤俊; 小坂 学
    計測自動制御学会論文集 56 4 227 - 235 公益社団法人 計測自動制御学会 2020年 [査読有り]
     

    Fictitious Reference Iterative Tuning (FRIT) have been reported for many applications, in which the control gain can be optimized so that the closed loop system corresponds with the reference model based on only one experiment data. However, when the reference model is not appropriate, there is a problem that not only the control performance is deteriorated but also the control system may become unstable. Instead of using model matching to the closed-loop reference model, we thought that this problem could be solved by optimizing the settling time and overshoot. To measure settling time and overshoot, the time response is required. The time response can be predicted using Kaneko's method [Takahashi, 2019], but this method requires the order of the closed loop transfer function. In this paper, the method [Takahashi, 2019] is reconsidered as a frequency response based method so that the order is not required. Furthermore, as another approach of FRIT, this paper proposes a method called 'Virtual Time-response based Iterative Gain Evaluation and Redesign' (V-Tiger) which iterates to measure the overshoot and settling time from the virtual time responses, and to evaluate and redesign the controller gain.

  • Yoshikazu Ohtsubo; Atsutoshi Ikeda; Kiyoshi Ioi; Manabu Kosaka
    Journal of Robotics and Mechatronics 29 6 1005 - 1013 2017年12月 [査読有り]
     
    © 2017, Fuji Technology Press. All rights reserved. This study develops teaching materials for mechatronics in higher education. Industrial societies require numerous mechatronics engineers, and most technical universities provide mechatronics exercises in their curriculums. However, it is difficult for teachers and students to modify and improve the mechatronic teaching materials because the provided materials are finished products. Therefore, a simple and inexpensive educational system is developed to overcome the disadvantages of the finished products. In this paper, an experimental apparatus is proposed for mechatronics education, and a practical example is presented that involves learning control methods, sensors, actuators, and mechanics.
  • Takahiro Kobayshi; Shima Okada; Masaaki Makikawa; Naruhiro Shiozawa; Manabu Kosaka
    Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS 2017 833 - 836 2017年09月 [査読有り]
     
    © 2017 IEEE. Bio-information is important to confirm the body condition. Especially, the muscle fatigue is related to injury or decrease of concentration. Therefore, it is required to evaluate muscle fatigue to make subject enjoy sports. In previous study, muscle fatigue is evaluated by using electromyogram (EMG). However, the electrode for EMG measurement is generally used for contact manor. The electrodes are disposable and it might cause the irritation of skin. Therefore, it isn't fitted for measurement of muscle fatigue. We developed wearable muscle fatigue detection system using capacitance coupling electrodes. Developed system isn't caused the irritation by electrodes and can reuse it. We compared the conventional system using disposable electrode system and our system to evaluate performance. We evaluated muscle fatigue from electromyogram before and after futsal. An integrated electromyogram and an intermediate frequency were used for the evaluation of muscle fatigue. As a result, half of subjects showed tendency of muscle fatigue. Therefore, we showed the possibility as muscle fatigue detection system using the capacity coupling electrodes.
  • Reproduction of the Object Stroking Sense by the Electrical Stimulation
    Yuki Kitani; Nozomi Oyama; Teruaki Nochino; Shima Okada; Manabu Kosaka
    Proc. of 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society 2017年07月 [査読有り]
  • Takahiro Kobayshi; Shima Okada; Masaaki Makikawa; Naruhiro Shiozawa; Manabu Kosaka
    2017 39TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 833 - 836 2017年 [査読有り]
     
    Bio-information is important to confirm the body condition. Especially, the muscle fatigue is related to injury or decrease of concentration. Therefore, it is required to evaluate muscle fatigue to make subject enjoy sports. In previous study, muscle fatigue is evaluated by using electromyogram (EMG). However, the electrode for EMG measurement is generally used for contact manor. The electrodes are disposable and it might cause the irritation of skin. Therefore, it isn't fitted for measurement of muscle fatigue. We developed wearable muscle fatigue detection system using capacitance coupling electrodes. Developed system isn't caused the irritation by electrodes and can reuse it. We compared the conventional system using disposable electrode system and our system to evaluate performance. We evaluated muscle fatigue from electromyogram before and after futsal. An integrated electromyogram and an intermediate frequency were used for the evaluation of muscle fatigue. As a result, half of subjects showed tendency of muscle fatigue. Therefore, we showed the possibility as muscle fatigue detection system using the capacity coupling electrodes.
  • Development of Educational Materials for Mechatronics
    Ioi; Yoshikazu Ohtsubo; Manabu Kosaka; Atsutoshi Ikeda; Shima Okada
    Transactions on Advances in Engineering 14 2017年
  • M. Kosaka; K. Koizumi; H. Shibata
    European Control Conference, ECC 1999 - Conference Proceedings 288 - 293 2015年03月 [査読有り]
     
    © 1999 EUCA. It is useful for the system engineer to initialize the tuning parameters of the adaptive control automatically. The adaptation gain and the width of the dead zone are the tuning parameters of the estimation law using the dead zone, and the control law also has additional tuning parameters. In this paper, we propose a new automatic initialization method of an adaptive control with a few tuning parameters that are determined by input and output data measured a priori. The width of dead zone in the estimation law is changed at each iteration depending on the input signal by the function determined by a priori input and output signals. The control law used here is an H∞-suboptimal one referring to complementary sensitivity function against unstructured uncertainty. Furthermore, we apply the proposed method to the electro-hydraulic servo system and verify the effects by an experiment.
  • 小坂 学
    計測自動制御学会論文集 49 4 497 - 498 計測自動制御学会 2013年04月 
    sが右半平面を囲うことを前提としないナイキストの安定判別法のシンプルな証明を示す。
  • Manabu Kosaka
    Lecture Notes in Electrical Engineering 156 LNEE VOL. 1 393 - 399 2013年 [査読有り]
     
    It is useful to develop robots that can be used instead of guide dogs because the number of the guide dogs is significantly less than that of visually impaired humans demand. This paper describes desired capacity for locomotion such as walking speed and climbing steps that the guide dog robots should have in the practical use in daily life, and proposes the way to stabilize the posture of the robot by controlling roll, pitch and yaw angle detected by a gyro-sensor mounted in the trunk. The guide dog robot is manufactured and verified the practicability by experiments of walking and climbing a step. © 2013 Springer-Verlag GmbH.
  • Manabu Kosaka
    International Journal of Control Theory and Applications 6 1 29 - 33 2013年 [査読有り]
     
    The proof of Nyquist's criterion for stability requires the assumption that frequency goes along the closed contour enclosing the right-half complex plane in a clockwise direction. This paper presents a new simple proof that does not require the assumption.© International Science Press.
  • Manabu Kosaka; Hiroshi Uda
    Journal of Low Frequency Noise Vibration and Active Control 29 1 55 - 64 2010年03月 [査読有り]
     
    It is known that some rotational machines such as compressors, pumps and so on often generate noises and vibrations due to periodic disturbances synchronised with the rotational speed. Vibration suppressing systems such as repetitive control are known to be effective to suppress the periodic disturbances. However, the control input of the repetitive controller may become larger and larger when the control input is saturated. This paper designs a generalised disturbance observer using the internal model principle that is effective to suppress periodic disturbances, and proposes a method that can make control performance deterioration minimal even if the control inputs are saturated. First, the proposed system estimates disturbances using the disturbance observer. Next, the estimated disturbances are passed into a filter of which the gain is one and phase lag is zero at the disturbance's frequencies, and are added into the control input in order to cancel the periodic disturbance. This filter is designed using the internal model principle, and the reason is explained why the filter should not be set to one. Some motor system simulations show that the phase lag of the estimated disturbances correspond to that of the periodic disturbances so that the method can make control performance deterioration minimal. The method is appropriate to rotational machine systems such as compressors and pumps in which the vibrations and noises should be avoided.
  • Manabu Kosaka; Hiroshi Uda
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 29 1 55 - 64 2010年 [査読有り]
     
    It is known that some rotational machines such as compressors, pumps and so on often generate noises and vibrations due to periodic disturbances synchronised with the rotational speed. Vibration suppressing systems such as repetitive control are known to be effective to suppress the periodic disturbances. However, the control input of the repetitive controller may become larger and larger when the control input is saturated. This paper designs a generalised disturbance observer using the internal model principle that is effective to suppress periodic disturbances, and proposes a method that can make control performance deterioration minimal even if the control inputs are saturated. First, the proposed system estimates disturbances using the disturbance observer. Next, the estimated disturbances are passed into a filter of which the gain is one and phase in is zero at the disturbance's frequencies, and are added into the control input in order to cancel the periodic disturbance. This filter is designed using the internal model principle, and the reason is explained why the filter should not be set to one. Some motor system simulations show that the phase lag of the estimated disturbances correspond to that of the periodic disturbances so that the method can make control performance deterioration minimal. The method is appropriate to rotational machine systems such as compressors and pumps in which the vibrations and noises should be avoided.
  • Harmonic control for systems with input saturation using the internal model principle
    小坂 学; 宇田 宏
    International Journal of Control Theory and Applications 2 2 169 - 179 2009年12月
  • Manabu Kosaka; Hiroshi Uda
    Journal of Low Frequency Noise Vibration and Active Control 28 4 269 - 283 2009年12月 [査読有り]
     
    In this paper, a new parameter identification method for Interior Permanent Magnet Synchronous Motor (IPMSM) sensorless control is proposed. Noise and vibration in mechanical plant is increased if rotor position estimation error occurs. Furthermore, the rotor position estimation error causes noise and vibration. When load torque and reference motor speed are constant, and phase voltages and phase currents in multiple stationary states are measured, motor parameters can be identified even if an estimated rotor position does not correspond with the actual rotor position. Furthermore, this paper proposes a new sensorless control method that derives the position by solving the motor voltage equation. It is shown that the method is able to estimate the true position even if the motor is in acceleration. Numerical simulations with the implementation of a Pulse Width Modulation (PWM) inverter are illustrated to verify the effect of the methods.
  • Manabu Kosaka; Duncan Wood; Ian Swain; Fern Barrow
    Proceedings of the 2009 WRI Global Congress on Intelligent Systems, GCIS 2009 2 2 127 - 132 2009年 [査読有り]
     
    Andrews et. al. developed an indoor rowing system for paraplegia using functional electrical stimulation (FES), and presented that the system was safe and healthy for paraplegia. However, the system would be better if the following three terms are improved: Firstly, only quadriceps and hamstrings in both thighs are activated by FES. Secondly, in order to switch FES, it is required to push periodically manual on-off FES switches set on a handle bar at effective timing in every rowing cycle. That might lead to fail to operate switches. Thirdly, constant FES intensity is used, which causes early muscles fatigues and strong pains. This paper describes the following improvements for the system: Firstly, by using gastrocnemius in calf and anterior tibialis in shank in addition, rowing speed is raised. Secondly, switching FES on and off is automated, which avoid failure to operate switches. Thirdly, the intensity for FES is adjusted automatically, which lead to relieve early fatigues and pains. © 2009 IEEE.
  • 武束 周平; 小坂 学
    関西支部講演会講演論文集 2009 0 _7 - 25_ 一般社団法人 日本機械学会 2009年 [査読有り]
  • 松村 健志; 小坂 学
    関西支部講演会講演論文集 2009 0 _7 - 26_ 一般社団法人 日本機械学会 2009年 [査読有り]
  • 小坂 学
    日本機械学会論文集 C編 75 750 302 - 309 日本機械学会 2009年 [査読有り]
     
    Copyright (c) 2009, 一般社団法人日本機械学会, rights: 本文データは学協会の許諾に基づきCiNiiから複製したものである, relation: isVersionOf: http://ci.nii.ac.jp/naid/110007113646/
  • Manabu Kosaka
    Journal of Low Frequency Noise Vibration and Active Control 27 4 281 - 290 2008年12月 [査読有り]
     
    Compressors, pumps etc often generate noise and vibration due to periodic disturbances. It is known that vibration suppressing systems such as repetitive control are effective in suppressing periodic disturbances. However, there is no report about methods that can make control performance deterioration as small as possible when the control inputs of the vibration suppression system are saturated. This paper develops a disturbance observer that is effectively suppressing periodic disturbances, and proposes a method that can make control performance deterioration minimal even if the control inputs are saturated. First, the proposed system estimates disturbances using the disturbance observer. Next the estimated disturbances are passed into a filter of unity gain and zero phase change at the disturbance's frequencies, and are added into the control input in order to cancel the periodic disturbance. Some motor system simulations show that the phase of the estimated disturbances corresponds to that of the periodic disturbances so that the method can make control performance deterioration minimal. The method is appropriate to rotational machine systems such as compressors and pumps in which vibration and noise should be avoided.
  • 小坂 学
    計測自動制御学会論文集 44 8 695 - 697 公益社団法人 計測自動制御学会 2008年08月 [査読有り]
     
    Control performance of vibration suppression system using the internal model principle deteriorates when control inputs are saturated. This paper describes a method that accurately estimates periodic disturbances when the inputs are saturated under the condition that the control object is known.
  • M. Kosaka; H. Uda
    Control and Intelligent Systems 36 3 208 - 215 2008年 [査読有り]
     
    In this paper, we propose a new anti-windup method with an initialization procedure that avoids overshoot in spite of saturation of control input. This method is based on a two-degree-of-freedom model matching (MM) control system. Instead of the control input and reference output, which are not affected by input saturation, the saturated control input and an output are used respectively for updating the reference output and feedforward input. Thereby, when the input becomes unsaturated, MM works well because the memorized values of the reference output that are used for updating the reference output correspond with the past output values. Furthermore, a procedure to initialize the reference model making the overshoots small is presented, even if the given control input is saturated. This method is adequate for systems in which overshoots are prohibited, such as temperature controls and machine tools. The effectiveness of the proposed method was verified using numerical simulations and experiments.
  • M. Kosaka; H. Uda
    Control and Intelligent Systems 36 3 201 - 207 2008年 [査読有り]
     
    In this paper, we propose a new deterministic off-line identification method that obtains a state-space model by using input and output data with steady state values. This method is composed of the method, M. Kosaka, K. Koizumi and H. Shibata Transactions of the Society of Instrument and Control Engineers 36(4), 2000, 319-327. zeroing the 0 ∼ N-tuple integral values of output error of single-input single-output transfer function model and Ho-Kalman's method, H.P. Zeiger and A.J. Mc Ewen, IEEE Transactions on Automatic Control, AC 19-2, 1974, 153. The feature is that this method can identify by using step responses and, consequently, this is suitable for mechanical system identification in which noise and vibration are undesirable. Numerical simulations of multi-input multi-output system identification and experimental results are illustrated.
  • Manabu Kosaka
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 27 4 281 - 290 2008年 [査読有り]
     
    Compressors, pumps etc often generate noise and vibration due to periodic disturbances. It is known that vibration suppressing systems such as repetitive control are effective in suppressing periodic disturbances. However, there is no report about methods that can make control performance deterioration as small as possible when the control inputs of the vibration suppression system are saturated. This paper develops a disturbance observer that is effectively suppressing periodic disturbances, and proposes a method that can make control performance deterioration minimal even if the control inputs are saturated. First, the proposed system estimates disturbances using the disturbance observer. Next the estimated disturbances are passed into a filter of unity gain and zero phase change at the disturbance's frequencies, and are added into the control input in order to cancel the periodic disturbance. Some motor system simulations show that the phase of the estimated disturbances corresponds to that of the periodic disturbances so that the method can make control performance deterioration minimal. The method is appropriate to rotational machine systems such as compressors and pumps in which vibration and noise should be avoided.
  • Manabu Kosaka; Hiroshi Uda
    Control. Intell. Syst. 36 3 2008年 [査読有り]
  • Manabu Kosaka; Hiroshi Uda
    Control. Intell. Syst. 36 3 2008年 [査読有り]
  • Manabu Kosaka; Hiroshi Uda
    Journal of Low Frequency Noise Vibration and Active Control 26 3 205 - 215 2007年06月 [査読有り]
     
    In this paper, we propose a new anti-windup method with a clear procedure of initialization to avoid vibrations and overshoots in spite of saturation of the control input. This method is based on a single-input single-output 2 degree of freedom model matching control system and by using a switch, a saturated control input and an output are respectively used for updating a reference output and a feedforward input instead of a control input and a reference output; these are not affected by input saturation. By this means, even if the control input is saturated, the state of the reference model corresponds with that of the control object and at the moment the updated control input is not saturated, the output immediately corresponds with the reference output. Furthermore, a procedure to initialize the reference model by which vibrations and overshoots do not occur even if the control input is saturated, is given. This method is suitable for systems in which vibrations and overshoots are taboo, such as tool machines. The effectiveness of the proposed method is verified by numerical simulation.
  • Manabu Kosaka; Hiroshi Uda
    Journal of Low Frequency Noise Vibration and Active Control 26 205 - 215 2007年06月 
    In this paper, we propose a new anti-windup method with a clear procedure of initialization to avoid vibrations and overshoots in spite of saturation of the control input. This method is based on a single-input single-output 2 degree of freedom model matching control system and by using a switch, a saturated control input and an output are respectively used for updating a reference output and a feedforward input instead of a control input and a reference output; these are not affected by input saturation. By this means, even if the control input is saturated, the state of the reference model corresponds with that of the control object and at the moment the updated control input is not saturated, the output immediately corresponds with the reference output. Furthermore, a procedure to initialize the reference model by which vibrations and overshoots do not occur even if the control input is saturated, is given. This method is suitable for systems in which vibrations and overshoots are taboo, such as tool machines. The effectiveness of the proposed method is verified by numerical simulation.
  • Manabu Kosaka; Hiroshi Uda
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 26 3 205 - 215 2007年 [査読有り]
     
    In this paper, we propose a new anti-windup method with a clear procedure of initialization to avoid vibrations and overshoots in spite of saturation of the control input. This method is based on a single-input single-output 2 degree of freedom model matching control system and by using a switch, a saturated control input and an output are respectively used for updating a reference output and a feedforward input instead of a control input and a reference output; these are not affected by input saturation. By this means, even if the control input is saturated, the state of the reference model corresponds with that of the control object and at the moment the updated control input is not saturated, the output immediately corresponds with the reference output. Furthermore, a procedure to initialize the reference model by which vibrations and overshoots do not occur even if the control input is saturated, is given. This method is suitable for systems in which vibrations and overshoots are taboo, such as tool machines.The effectiveness of the proposed method is verified by numerical simulation.
  • 和田 篤; 小坂 学
    関西支部講演会講演論文集 2007 0 _11 - 22_ 一般社団法人 日本機械学会 2007年 [査読有り]
  • 土井 聡史; 小坂 学
    関西支部講演会講演論文集 2007 0 _14 - 3_ 一般社団法人 日本機械学会 2007年 [査読有り]
  • Manabu Kosaka; Hiroshi Uda; Eiichi Bamba; Hiroshi Shibata
    Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 128 3 746 - 749 2006年09月 [査読有り]
     
    This study proposes a new deterministic off-line identification method that obtains a state-space model using input and output data with steady state values. This method comprises of two methods: Zeroing the 0∼N-tuple integral values of the output error of single-input single-output transfer function model (Kosaka et al., 2004) and Ho-Kalman's method (Zeiger and McEwen, 1974). Herein, we present a new method to derive a matrix similar to the Hankel matrix using multi-input and multi-output data with steady state values. State space matrices A, B, C, and D are derived from the matrix by the method shown in Zeiger and McEwen, 1974 and Longman and Juang, 1989. This method's utility is that the derived state-space model is emphasized in the low frequency range under certain conditions. Its salient feature is that this method can identify use of step responses; consequently, it is suitable for linear mechanical system identification in which noise and vibration are unacceptable. Numerical simulations of multi-input multi-output system identification are illustrated. Copyright © 2006 by ASME.
  • Manabu Kosaka
    Journal of Low Frequency Noise Vibration and Active Control 25 2 145 - 151 2006年 
    This paper describe a discrete time off-line identification method performed by using input and output data having a constant steady state output response such as a step response. A step input causes noise or vibration from a mechanical system only at the moment when it is applied but they are attenuated asymptotically. The method can directly acquire any order of reduced model without knowing the real order of the plant. The effectiveness of the method is verified by applying it to a two-mass mechanical system.
  • M. Kosaka; H. Shibata
    Control and Intelligent Systems 34 1 30 - 36 2006年 [査読有り]
     
    It is useful for system engineers to initialize tuning parameters of adaptive control automatically. Adaptation gain and width of dead zone are tuning parameters of an estimation law using a dead zone. A control law has additional tuning parameters. This paper presents a new variable dead zone and a new automatic initialization method for adaptive control using a variable dead zone with a few tuning parameters that are determined by previously measured input and output data. The dead zone width in the estimation law is changed depending on the input signal by a rational function initialized using previously measured input and output signals. The control law used here is an H∞ control one referring to a complementary sensitivity function against unstructured uncertainty. We apply the proposed method to an electro-hydraulic servo system and verify the effects by experimentation.
  • Manabu Kosaka
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 25 2 145 - 151 2006年 [査読有り]
     
    This paper describe a discrete time off-line identification method performed by using input and output data having a constant steady state output response such as a step response. A step input causes noise or vibration from a mechanical system only at the moment when it is applied but they are attenuated asymptotically. The method can directly acquire any order of reduced model without knowing the real order of the plant. The effectiveness of the method is verified by applying it to a two-mass mechanical system.
  • Manabu Kosaka; Hiroshi Shibata
    Control. Intell. Syst. 34 1 2006年 [査読有り]
  • 小坂 学; 宇田 宏; 馬場 〓一
    計測自動制御学会論文集 41 11 903 - 908 公益社団法人 計測自動制御学会 2005年11月 [査読有り]
     
    This paper describes a control method that takes into account input saturations based on the structure of the two degree of freedom model matching control system. Concretely, a control method and a procedure are considered so that outputs of a control object track the reference outputs without occurring overshoot. The effectiveness of the method is verified by numerical simulations and experiments.
  • 小坂 学; 宇田 宏; 馬場 えい一; 柴田 浩
    計測自動制御学会論文集 41 3 242 - 249 計測自動制御学会 2005年03月 
    In this paper, we propose a new deterministic off-line identification method that delivers a state-space model by using input and output data with steady state values. This method combines the method zeroing the 0N-tuple integral values of output error of single-input single-output transfer function model and Ho-Kalman's method. The feature is that this method can identify by using step responses and, consequently, this is suitable for a mechanical system identification in which persistent fluctuations are unacceptable. Numerical simulations of multi-input multi-output system identification are illustrated and the practicability is verified by application to a pneumatic two link arm system.
  • 小坂 学; 宇田 宏; 馬場 〓一
    日本機械学会論文集. C編 71 703 995 - 1002 一般社団法人日本機械学会 2005年03月 [査読有り]
     
    In this paper, we propose a new anti-windup method with clear procedure of initialization to avoid overshoot in spite of saturation of control input. This method is based on a 2 degree of freedom model matching control system and by using a switch, instead of a control input and a reference output those are not affected by an input saturation, a saturated control input and an output are respectively used for updating a reference output and a feedforward input. By this means, when the input come to unsaturated, the Model Matching works correctly because the memorized values of the reference output utilized for updating reference output correspond with the past values of the output. Furthermore, a procedure to initialize the reference model with which the overshoots do not occur even if the control input is saturated is given. This method is suitable for systems in which overshoots are taboo such as tool machines and temperature controls. The proposed method is verified the effectiveness by numerical simulations and experiments.
  • 小坂 学; 宇田 宏; 馬場 〓一
    日本機械学會論文集. C編 71 3 995 - 1002 一般社団法人日本機械学会 2005年03月 [査読有り]
     
    In this paper, we propose a new anti-windup method with clear procedure of initialization to avoid overshoot in spite of saturation of control input. This method is based on a 2 degree of freedom model matching control system and by using a switch, instead of a control input and a reference output those are not affected by an input saturation, a saturated control input and an output are respectively used for updating a reference output and a feedforward input. By this means, when the input come to unsaturated, the Model Matching works correctly because the memorized values of the reference output utilized for updating reference output correspond with the past values of the output. Furthermore, a procedure to initialize the reference model with which the overshoots do not occur even if the control input is saturated is given. This method is suitable for systems in which overshoots are taboo such as tool machines and temperature controls. The proposed method is verified the effectiveness by numerical simulations and experiments.
  • 岩見 優輝; 小坂 学; 宇田 宏
    ロボティクス・メカトロニクス講演会講演概要集 2005 0 40 - 40 一般社団法人 日本機械学会 2005年 [査読有り]
  • Manabu Kosaka; Hiroshi Uda; Eiichi Bamba; Hiroshi Shibata
    Journal of Low Frequency Noise Vibration and Active Control 24 2 125 - 134 2005年 [査読有り]
     
    In this paper, we propose a deterministic off-line identification method performed by using input and output data with a constant steady state output response such as a step response that causes noise or vibration from a mechanical system at the moment when it is applied but they are attenuated asymptotically. The method can directly acquire any order of reduced model without knowing the real order of a plant, in such a way that the intermediate parameters are uniquely determined so as to be orthogonal with respect to 0 - N-tuple integral values of output error and irrelevant to the unmodelled dynamics. From the intermediate parameters, the coefficients of a rational transfer function are calculated. In consequence, the method can be executed for any plant without knowing or estimating its order at the beginning. The effectiveness of the method is illustrated by numerical simulations and also by applying it to a 2-mass system.
  • Manabu Kosaka; Hiroshi Uda; Eiichi Bamba; Koji Tanikake; Kazuhisa Kitanaka; Yasuhisa Sugiyama
    Control and Intelligent Systems 33 2 87 - 93 2005年 [査読有り]
     
    This work describes an anti-windup method for a feedforward controller of two-degree-of-freedom (2DOF) control by which model matching is done. The proposed method replaces the memorized variable of output of the reference model in the feedforward controller with a controlled variable when input is saturated. Furthermore, the authors propose deriving a model of a controlled object using identification method for a reduced model with zeroing 0 ∼ N-tuple integral values of output error. Using the model, tracking error for reference input that consists of 0 ∼ N-th power of time becomes zero even if the controlled object has uncertainty. The resulting system shows no deterioration in feedback characteristics or increases in tuning labour time because feedforward controllers do not affect feedback characteristics; moreover, feedback controllers can be designed with accumulated knowhow. Numerical simulations and experiment verify that the proposed method yields satisfactory reference input response even if input is saturated or when the controlled object has uncertainty.
  • M Kosaka; H Uda; E Bamba; H Shibata
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 24 2 125 - 134 2005年 
    In this paper, we propose a deterministic off-line identification method performed by using input and output data with a constant steady state output response such as a step response that causes noise or vibration from a mechanical system at the moment when it is applied but they are attenuated asymptotically. The method can directly acquire any order of reduced model without knowing the real order of a plant, in such a way that the intermediate parameters are uniquely determined so as to be orthogonal with respect to 0 similar to N-tuple integral values of output error and irrelevant to the unmodelled dynamics. From the intermediate parameters, the coefficients of a rational transfer function are calculated. In consequence, the method can be executed for any plant without knowing or estimating its order at the beginning. The effectiveness of the method is illustrated by numerical simulations and also by applying it to a 2-mass system.
  • Manabu Kosaka; Hiroshi Uda; Hiroshi Shibata
    Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME 126 4 746 - 752 2004年12月 [査読有り]
     
    In this paper, we propose a deterministic off-line identification method performed by using input and output data with a constant steady-state output response. The method can directly acquire any order of reduced model without knowing the real order of a plant, in such a way that the intermediate parameters are uniquely determined so as to be orthogonal with respect to O-N-tuple integral values of output error and irrelevant to the un-modeled dynamics. From the intermediate parameters, the co-efficients of a rational transfer function are calculated. In consequence, the method can be executed for any linear single-input single-output plant without knowing or estimating its order at the beginning. The effectiveness of the method is illustrated by numerical simulations and also by applying it to a two-mass system. Copyright © 2004 by ASME.
  • 小坂 学; 宇田 宏; 馬場 〓一
    システム制御情報学会論文誌 17 5 211 - 217 一般社団法人 システム制御情報学会 2004年05月 [査読有り]
     
    In this paper, a new sensorless Interior Permanent Magnet Synchronous Motor (IPMSM) drive method with Extended Kalman Filtering (EKF) estimation of speed and rotor position is proposed. This method is on the basis of the sensorless Surface Permanent Magnet Synchronous Motor (SPMSM) drive [1] that can be applied to motors with no salient pole and is developed so as to be able to be applied to motors with salient pole such as IPMSM. The feature of the method is that rotor position estimation error does not occur even if motor current or motor voltage changes. Therefore, the method can be applied with arbitrary motor voltage waveform and, consequently, the method is suitable for sensorless IPMSM drive.
    Numerical simulations are illustrated to verify the effect of the method.
  • Manabu Kosaka; Hiroshi Uda; Eiichi Bamba
    IFAC Proceedings Volumes (IFAC-PapersOnline) 37 13 315 - 320 2004年 [査読有り]
     
    Copyright © 2004 IFAC. In this paper, a new sensorless Interior Permanent Magnet Synchronous Motor (IPMSM) drive method with Extended Kalman Filtering (EKF) estimation of rotor position is proposed. This method is on the basis of the sensorless IPMSM drive (Kosaka et. al., 2003). The feature of the method is that the order of the state variables of propased method is less than that of the conventional method (Kosaka et. al., 2003). Therefore, computational load and calculation error of matrices in the EKF can be decreased. Numerical simulations are illustrated to verify the effect of the method.
  • 志水 修; 要 陽介; 尾重 友朗; 小坂 学; 宇田 宏
    ロボティクス・メカトロニクス講演会講演概要集 2004 0 72 - 72 一般社団法人 日本機械学会 2004年 [査読有り]
  • Manabu Kosaka; Hiroshi Shibata
    Journal of Low Frequency Noise Vibration and Active Control 23 3 189 - 198 2004年 [査読有り]
     
    It is useful for the system engineer to initialize the tuning parameters of an adaptive control automatically because less experienced engineers often cause excessive noise and vibration from mechanical plants in the parameter initializing experiment. The adaptation gain and the width of the dead zone are the tuning parameters of the estimation law using the dead zone, and the control law also has additional tuning parameters. In this paper, we propose a new automatic initialization method for an adaptive control with a few tuning parameters that are determined by previously measured input and output data. The width of the dead zone in the estimation law is changed at each iteration depending on the input signal by the function determined by previously measured input and output signals. The control law used here is an H∞ control one [3] that stabilizes the control system and minimizes a kind of H∞ norm of the sensitivity function and the complementary sensitivity function if the upper bound of the unstructured uncertainty of the control object is known. Furthermore, we apply the proposed method to an electro-hydraulic servo system and verify the effects by an experiment.
  • M Kosaka; H Shibata
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 23 3 189 - 198 2004年 
    It is useful for the system engineer to initialize the tuning parameters of an adaptive control automatically because less experienced engineers often cause excessive noise and vibration from mechanical plants in the parameter initializing experiment. The adaptation gain and the width of the dead zone are the tuning parameters of the estimation law using the dead zone, and the control law also has additional tuning parameters. In this paper, we propose a new automatic initialization method for an adaptive control with a few tuning parameters that are determined by previously measured input and output data. The width of the dead zone in the estimation law is changed at each iteration depending on the input signal by the function determined by previously measured input and output signals. The control law used here is an H-infinity control one [3] that stabilizes the control system and minimizes a kind of H-infinity norm of the sensitivity function and the complementary sensitivity function if the upper bound of the unstructured uncertainty of the control object is known. Furthermore, we apply the proposed method to an electro-hydraulic servo system and verify the effects by an experiment.
  • M Kosaka; H Uda
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 23 1 59 - 69 2004年 
    In this paper, a new sensorless Interior Permanent Magnet Synchronous Motor (IPMSM) drive method with Extended Kalman Filtering (EKF) estimation of speed and rotor position is proposed. This method is on the basis of the sensorless Surface Permanent Magnet Synchronous Motor (SPMSM) drive [1] that can be applied to motors with no salient pole and is developed so as to be able to be applied to motors with salient pole such as IPMSM. Noise and vibration in mechanical plant becomes larger if rotor position estimation error occurs. Furthermore, the rotor position estimation error causes noise and vibration. The feature of the method is that rotor position estimation error does not occur even if motor current or motor voltage change. Therefore, the method can be applied with arbitrary motor voltage waveform and, consequently, the method is suitable for sensorless IPMSM drive. Numerical simulations are illustrated to verify the effect of the method.
  • Manabu Kosaka; Hiroshi Uda
    Proceedings of the IEEE Conference on Decision and Control 6 5915 - 5920 2003年 [査読有り]
     
    In this paper, a new sensorless Interior Permanent Magnet Synchronous Motor (IPMSM) drive method with Extended Kalman Filtering (EKF) estimation of speed and rotor position is proposed. This method is on the basis of the sensorless Surface Permanent Magnet Synchronous Motor (SPMSM) drive that can be applied to motors with no salient pole and is developed so as to be able to be applied to motors with salient pole such as IPMSM. The feature of the method is that rotor position estimation error does not occur even if motor current or motor voltage change. Therefore, the method can be applied with arbitrary motor voltage waveform and, consequently, the method is suitable for sensorless IPMSM drive. Numerical simulations are illustrated to verify the effect of the method.
  • Hiroshi Uda; Hideo Yonezawa; Yoshikazu Ohtsubo; Manabu Kosaka; Hajimu Sonomura
    Solar Energy Materials and Solar Cells 75 1-2 219 - 226 2003年01月 [査読有り]
     
    Polycrystalline CdS thin films have been deposited on borosilicate glass substrates coated with ITO film by metalorganic chemical vapor deposition using dimethyl cadmium and diethyl sulfide as source materials. The growth of CdS film occurred at substrate temperatures within the range of 280-360°C. The deposition rate increased with increasing VI/II molar ratio at any substrate temperature and showed a maximum value at the VI/II molar ratio of 4. The grain size of as-deposited CdS film prepared at substrate temperatures from 300°C to 360°C was about 0.1μm. The CdS films consist of hexagonal form with a preferential orientation of the (002) plane parallel to the substrate. Thin CdS film with high optical transmittance was prepared at 350°C with the VI/II molar ratio of 4. The CdS film deposited by MOCVD may be used as a window layer for CdS/CdTe solar cell. © 2002 Elsevier Science B.V. All rights reserved.
  • M Kosaka; H Uda; E Bamba
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 22 1 33 - 45 2003年 
    This paper is concerned with a practical controller to suppress the periodic speed variation of a motor. Speed variation in a pump, a compressor or a wheel of an electric vehicle causes vibration and noise, which shorten the life of the machine. Although repetitive control can suppress the speed variation, there are the following problems: If a reference velocity changes, the period of the speed variation changes and the effect of the suppression is reduced. The tuning parameters are difficult to tune. In the case where a low-resolution angle sensor is used, the output of the controller to suppress the speed variation becomes pulse-shaped and causes harmonic ripples that increase energy consumption. In order to eliminate the harmonic ripples, we propose a controller of which the output is interpolated with a sine wave.
  • M Kosaka; H Uda; E Bamba
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL 22 1 33 - 45 2003年 
    This paper is concerned with a practical controller to suppress the periodic speed variation of a motor. Speed variation in a pump, a compressor or a wheel of an electric vehicle causes vibration and noise, which shorten the life of the machine. Although repetitive control can suppress the speed variation, there are the following problems: If a reference velocity changes, the period of the speed variation changes and the effect of the suppression is reduced. The tuning parameters are difficult to tune. In the case where a low-resolution angle sensor is used, the output of the controller to suppress the speed variation becomes pulse-shaped and causes harmonic ripples that increase energy consumption. In order to eliminate the harmonic ripples, we propose a controller of which the output is interpolated with a sine wave.
  • 小坂 学; 小泉 清嗣; 柴田 浩
    計測自動制御学会論文集 36 4 319 - 327 計測自動制御学会 2000年04月 [査読有り]
     
    An input signal, such as M series signal, used in the least square method is required to satisfy P.E. condition, which often results in resonance, and consequently large noise and vibration in a mechanical object, as in an oil hydraulic system. On the other hand, a step signal is practical because it causes less noise and vibration. Conventional off-line identification methods restrict the order of an identifiable model if a step signal is used for it.
    In this paper, we propose a new off-line identification method, which can be applied to an arbitrary order object and performed with data generating constant steady state output response. The feature of the method is that a reduced order model can be obtained directly in the way that the intermediate parameters, from which the system parameters (coefficients of rational transfer function) are derived, are determined uniquely irrelevant to the unmodelled dynamics, so that 0∼N-tuple integral values of the output error lead to zero.
    Numerical simulations indicate the effectiveness of the proposed method.
  • 小坂 学; 佐々木 能成; 小泉 清嗣; 大槻 幸一; 丸岡 玄門; 柴田 浩
    日本油空圧学会論文集 31 2 58 - 64 日本油空圧学会 2000年03月 [査読有り]
  • 小坂 学; 佐々木 能成; 小泉 清嗣; 大槻 幸一; 丸岡 玄門; 柴田 浩
    日本油空圧学会論文集 31 2 58 - 64 社団法人 日本フルードパワーシステム学会 2000年 [査読有り]
     
    An electro-hydraulic servo system, which uses a proportional electromagnetic valve, has nonlinear static characteristics between the input voltage and output velocity. When positioning of the servo system is controlled with an integral factor, there appears a problem of a limit cycle. A conventional compensator adds a fixed value to the output of the controller, reduces amplitude of the limit cycle and obtains good response. But the static characteristics of the servo system change with oil pressure, position of slide and so on, which increases the amplitude of the limit cycle and leads to unsatisfactory response.
    In this paper, a new on-line compensator is proposed. The compensator estimates some parameters of nonlinear characteristics from input and output data, and removes the unsatisfactory nonlinear static characteristics. The advantage of this compensator is examined through practical experiments of the servo system.
  • 小坂 学; 木村 文孝; 柴田 浩
    計測自動制御学会論文集 34 8 1025 - 1032 計測自動制御学会 1998年08月 [査読有り]
  • 小坂 学; 木村 文孝; 柴田 浩
    計測自動制御学会論文集 34 8 1025 - 1032 公益社団法人 計測自動制御学会 1998年 [査読有り]
     
    It is useful for control engineers to initialize automatically the tuning parameters of adaptive control by using a priori measured data without any trial and error.
    The adaptive law using time varying gain matrix has better convergence rate than the one using fixed gain matrix. In order to be sensitive to characteristic change of control object, it is useful to use variable dead zone width which changes according to magnitude of disturbance.
    In this paper, we propose a scaling type law having variable dead zone width and automatic initialization using a priori measured data. We prove a theorem that gives some properties and convergence of the algorithm, and illustrate how to determine the variable width by using data obtained from a priori measurement and at each iteration instant. The variable width is yielded by αd0 (k), of which constant α and time variant d0 (k) are respectively determined by a priori measured data and data calculated at each iteration.
    Furthermore, we apply the above algorithm to identification of an electro-hydraulic servo system and verify the effects.
  • 柴田 浩; 藤中 透; 小坂 学; 孫 宇
    電子情報通信学会論文誌. A, 基礎・境界 80 2 428 - 430 一般社団法人電子情報通信学会 1997年02月 [査読有り]
     
    目標値フィルタにより零配置を行う新しい極零配置形適応制御方式を提案しその特徴を理論的に考察し, 従来の手法よりも利点をもつことをシミュレーションによって確認した.
  • 小坂 学; 木村 文孝; 柴田 浩
    システム制御情報学会論文誌 9 11 485 - 494 一般社団法人 システム制御情報学会 1996年11月 [査読有り]
     
    It is effective for robust control design to evaluate complementary sensitivity function if the uncertainty of a controlled object is known. The conventional adaptive control with parameter estimation provides satisfactory control performance against parameter variation but it is not sufficiently robust against unstructured uncertainty. In this paper, we propose a combined adaptive control design referring to parameter estimation against parameter variation and complementary sensitivity function against unstructured uncertainty. The proposed method includes initial estimation of uncertainties using plant input and output, and its stability is proved for an overall adaptive system. The advantage of this design is that initial adjustment of parameters in control law needs little tuning. Experiments and simulations for an oil hydraulic system are performed to verify the effectiveness.

書籍

作品等

  • アクチュエータのセンサレス制御に関する研究
    2005年
  • オートチューニングの実用化に関する研究
    2004年
  • アクティブDCコンバータの高性能化
    2004年
  • オートチューニングの実用化に関する研究
    2003年
  • アクチュエータのセンサレス制御に関する研究
    2003年
  • オートチューニングの実用化に関する研究
    2002年
  • アクチュエータのセンサレス制御に関する研究
    2002年
  • アクチュエータのセンサレス制御に関する研究
    2001年

MISC

産業財産権

受賞

  • 2013年09月 計測自動制御学会 2013年度計測自動制御学会学会賞（著述賞）
     高校数学でマスターする制御工学 - 本質の理解からMat@Scilabによる実践まで -，コロナ社 
    受賞者: 小坂 学

共同研究・競争的資金等の研究課題

  • 日本学術振興会：科学研究費助成事業 基盤研究(C)
    研究期間 : 2022年04月 -2027年03月 
    代表者 : 小坂 学
  • 大阪東部地域連携における先進的な金型技術の高度化研究
    文部科学省：私立大学戦略的研究基盤形成支援事業
    研究期間 : 2012年04月 -2015年03月 
    代表者 : 小坂 学
  • オーバーシュートが起こらないアンチワインドアップ制御
    受託研究
    研究期間 : 2002年
  • アクチュエータのセンサレス化に関する研究
    受託研究
    研究期間 : 2001年
  • 内部モデル原理に基づく周期性外乱除去制御に関する研究
    研究期間 : 2001年
  • 空気圧駆動による二足歩行ロボットの開発
    研究期間 : 2001年
  • ステップ応答によるパラメータ同定
    研究期間 : 2000年
  • オーバーシュートが起こらないアンチワインドアップ制御
  • ステップ応答によるパラメータ同定
  • オートチューニング制御アルゴリズムの開発
  • 回転ムラ抑制制御の実用化
  • 空気圧駆動によるパワフルな二足歩行ロボットの開発
  • A development of auto-tuning control algorism
  • A development of a periodic disturbance reduction control
  • Pneumatic actuators driven powerful biped robot
  • A study on sensorless actuator
  • A study on a periodic disturbance reduction control based on internal model principle
  • Pneumatic actuators driven biped robot

担当経験のある科目

  • 制御工学の基礎近畿大学
  • 電気電子回路近畿大学
  • 計測工学近畿大学
  • 線形システム制御論近畿大学
  • 制御工学近畿大学

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