(英) Identification of a Hopping Machine Based on a Piecewise Affine Model (日) 区分的アフィンモデルに基づくホッピングマシンの同定
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(英) In this study, a hopping machine (HM) is identified as a piecewise affine (PWA) system via estimating a transition time. The HM can be modeled as the PWA model with two types of discrete transitions: one caused by the change between discrete free-fall and spring-mass states and the other caused by inversion of the sign of a nonlinear drag coefficient term owing to air resistance. First, the equation of motion for the HM is obtained considering the nonlinear term in order to analyze those discrete transitions. In addition, the transition times are estimated using a wavelet-based method proposed in our previous papers. Finally, the HM is identified as a piecewise affine auto regressive exogenous (PWARX) model on the basis of the analyzed discrete states. (日) 本研究では,ホッピングマシンの遷移時刻を推定することによって,区分的アフィンシステムとして同定する.ホッピングマシンは自由落下系とバネ質量系の二つの離散状態の間の遷移と空気抵抗である非線形項の符号がかわる遷移からなる.まず,離散遷移を解析するため非線形項を考慮してホッピングマシンの運動方程式が得られる.さらに,筆者らが以前に提案したウェーブレット解析に基づく推定手法を用いて離散時刻を推定する.最後に,ホッピングマシンを区分的アフィンなARXモデルとして同定する.
Tomoaki Kashiwao, Kenji IkedaandTakao Shimomura : Identification of a Hopping Machine Based on a Piecewise Affine Model, SICE Annual Conference 2013, (巻), (号), 501-504, Nagoya, Sep. 2013.
欧文冊子 ●
Tomoaki Kashiwao, Kenji IkedaandTakao Shimomura : Identification of a Hopping Machine Based on a Piecewise Affine Model, SICE Annual Conference 2013, (巻), (号), 501-504, Nagoya, Sep. 2013.
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