公开(公告)号：US07050864B2

公开(公告)日：2006-05-23

申请号：US10312108

申请日：2002-04-19

申请人： Yuji Yasui ,  Yoshihisa Iwaki ,  Jun Takahasi

发明人： Yuji Yasui ,  Yoshihisa Iwaki ,  Jun Takahasi

IPC分类号： G05B13/02

CPC分类号： G05B13/042 ,  F02D35/0007 ,  F02D41/1403 ,  F02D41/1454 ,  F02D41/40 ,  F02D2041/1423 ,  F02D2041/143 ,  G05B13/047 ,  G05B13/048

摘要： A control system for a plant is provided. This control system can control the plant more stably, when the model parameters of the controlled object model which are obtained by modeling the plant, which is a controlled object, are identified and the sliding mode control is performed using the identified model parameters. The model parameter identifier (22) calculates a model parameter vector (θ) by adding an updating vector (d θ) to a reference vector (θ base) of the model parameter. The updating vector (d θ) is corrected by multiplying a past value of at least one element of the updating vector by a predetermined value which is greater than “0” and less than “1”. The model parameter vector (θ) is calculated by adding the corrected updating vector (d θ) to the reference vector (θ base).

摘要翻译： 提供了一种植物控制系统。 当通过对作为受控对象的设备进行建模获得的受控对象模型的模型参数被识别并且使用所识别的模型参数来执行滑动模式控制时，该控制系统可以更稳定地控制设备。 模型参数标识符（22）通过将更新向量（dθ）添加到模型参数的参考向量（θbase）来计算模型参数向量（θ）。 通过将更新向量的至少一个元素的过去值乘以大于“0”且小于“1”的预定值来校正更新向量（dθ）。 通过将校正的更新向量（dθ）加到参考矢量（θbase）来计算模型参数矢量（theta）。

公开(公告)号：US5107475A

公开(公告)日：1992-04-21

申请号：US473246

申请日：1990-01-31

申请人： Kaoru Serita ,  Masaaki Kiyomiya ,  Jun Takahasi ,  Masatoshi Watanabe ,  Masaki Iwamoto

发明人： Kaoru Serita ,  Masaaki Kiyomiya ,  Jun Takahasi ,  Masatoshi Watanabe ,  Masaki Iwamoto

IPC分类号： G11B17/028 ,  G11B17/04 ,  G11B17/22

CPC分类号： G11B17/056 ,  G11B17/0284 ,  G11B17/0288 ,  G11B17/225

摘要： An automatic disk changer is disclosed in which tray guides are provided on a large number of levels in a case at right and left portions thereof so that the center line of the guide on each of the levels at the right portion and that of the guide on the level at the left portion extend toward a tray transfer mechanism and meet each other in the form of a V. The tray transfer mechanism can be moved up and down between each of the guides and a disk player for playing a disk in a tray transferred by the tray transfer mechanism, be swung from a central portion to positions corresponding to the guides on each of the levels at the right and left portions, and be moved backward and forward, to and from each of the guides.

摘要翻译： 公开了一种自动换盘装置，其中托盘导向器在其右侧和左侧部分的情况下设置在多个水平面上，使得导轨的右侧部分和导轨上的每个水平线的中心线 左侧部分的水平面向托盘传送机构延伸，并以V形式彼此相遇。托盘传送机构可以在每个引导件之间上下移动，并且一个盘播放器用于在传送的托盘中播放盘 通过托盘传送机构，从中心部分到与左侧部分的每个级别上的引导件相对应的位置，并且从每个引导件向前和向后移动。