Control Teaching Delivering Support System by Using the Inertia Rotor Type Inverted Pendulum

• Project/Area Number: 15K00938
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Science education
• Research Institution: Sendai National College of Technology
• Principal Investigator: Sugaya Junichi 仙台高等専門学校, 総合工学科, 教授 (30154454)
• Co-Investigator(Kenkyū-buntansha): 上町 俊幸 石川工業高等専門学校, その他部局等, 准教授 (50280334) ; 大場 譲 仙台高等専門学校, 総合工学科, 准教授 (80455104)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000); Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2015: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 慣性ロータ型振子 / 可変構造型制御 / 振り上げ制御 / 立位制御 / 非線形制御 / PID制御 / ブランコ型倒立振子 / PICマイコン / ＰＩＤ制御 / 慣性ロータ型倒立振子 / ＰＩＣマイコン / 区分的線形制御 / PICマイコン制御 / フライホイール型 / 発展型教材 / シーケンス制御 / PLCコントローラ / 海外出前授業

Outline of Final Research Achievements

First a MATLAB simulation by PID control was performed to achieve stabilization standing upright control of an inertia rotor inverted pendulum. Teaching materials by a PLC controller of an inverted pendulum using sequential logic control(PLC) were manufactured as an advance. Control of the inertia rotor type inverted pendulum is variable structured control with the double structure of the swing up control of a pendulum and the standing upright control by revolution of the inertia rotor that is swing type pendulum. The one able to make nonlinear-PID control by sequential logic control and switch from swing up control to standing upright control was released in international conference ICICT2016. The one it become possible to also switch from standing upright control to swing up control for swing type inverted pendulum and the optimal regulator control simulation was also released in international conference ICITEE2017. Further we made the swing type inverted pendulum and experimented.

Research Products

• [Int'l Joint Research] KMITL工科大学(タイ)
• [Journal Article] Advanced Teaching Materials of Inverted-Pendulum System by the PLC Sequence Method (2017)
  • Author(s): Junichi Sugaya, Kuniaki Yajima, Yuta Iishiba
  • Journal Title: Information and Communication Technology Proceedings of ICICT 2016 Volume: Vol. 625 Pages: 151-160
  • Peer Reviewed / Int'l Joint Research
• [Journal Article] Advanced Teaching Materials for the Inverted Pendulum System by PLC Sequence Control (2016)
  • Author(s): Junichi SUGAYA, Kuniaki YAJIMA, Yuta IISHIBA
  • Journal Title: ICBIR 2016 Conference Proceedings, Volume: 01 AE Pages: 41-46
  • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
• [Presentation] From Stabilization of Standing Upright Control of an Inverted Pendulum using Inertia Rotor and the Swing Type Inverted Pendulum for Engineering Education (2017)
  • Author(s): Junichi SUGAYA,Toshiyuki KANMACHI,Yuzuru OHBA
  • Organizer: ICITEE2017
  • Int'l Joint Research
• [Presentation] コラン競技用電気自動車におけるエコドライブシステムの検討Ⅱ (2017)
  • Author(s): 遠藤優磨，大泉哲哉，熊谷和志，菅谷純一
  • Organizer: 電気関係学会北陸支部連合大会
• [Presentation] エコラン競技用電気自動車におけるエコドライブシステムの検討 (2017)
  • Author(s): 遠藤優磨，大泉哲哉，熊谷和志，菅谷純一
  • Organizer: 電気関係学会東北支部連合大会
• [Presentation] ブラシレスモータの特性改善に関する研究 (2017)
  • Author(s): 遠藤優磨，大泉哲哉，熊谷和志，菅谷純一
  • Organizer: 第23回高専シンポジウムin 神戸
• [Presentation] シーケンス制御による発展教材の開発-倒立振子の立位制御への応用 (2017)
  • Author(s): 菅谷純一・矢島邦昭・飯柴佑太
  • Organizer: 第22回高専シンポジウムin Mie
  • Place of Presentation: 鳥羽商船高専
• [Presentation] dvanced Teaching Materials for the College Student by the PLC inverted pendulum system (2016)
  • Author(s): Junichi SUGAYA, Kuniaki YAJIMA, Yuta IISHIBA
  • Organizer: ICICT 2016 Ｃｏｎｆｅｒｅｎｃｅ
  • Place of Presentation: タイ・バンコク
  • Year and Date: 2016-12-12
  • Int'l Joint Research
• [Presentation] シーケンス制御による倒立振子の立位制御への応用Ⅱ (2016)
  • Author(s): 菅谷純一・矢島邦昭・飯柴佑太
  • Organizer: 平成28年度電気関係学会北陸支部連合大会
  • Place of Presentation: 福井工業大学 2号館
  • Year and Date: 2016-09-12
• [Presentation] シーケンス制御による倒立振子・発展型教材開発 (2016)
  • Author(s): 菅谷純一
  • Organizer: 平成28年度全国高専フォーラム教育研究活動発表
  • Place of Presentation: 岡山大学津島キャンパス
  • Year and Date: 2016-08-24
• [Presentation] Advanced Teaching Materials for the Inverted Pendulum System by PLC Sequence Control (2016)
  • Author(s): Junichi SUGAYA, Kuniaki YAJIMA, Yuta IISHIBA
  • Organizer: ICBIR 2016 Conference
  • Place of Presentation: タイ・バンコク
  • Year and Date: 2016-05-12
  • Int'l Joint Research
• [Presentation] シーケンス制御による倒立振子の立位制御への応用教材 (2016)
  • Author(s): 飯柴佑太，菅谷純一，矢島邦昭，林忠之
  • Organizer: 第21回高専シンポジウムin香川
  • Place of Presentation: 香川県丸亀市民会館
  • Year and Date: 2016-01-23
• [Presentation] シーケンス制御による倒立振子の立位制御への応用教材 (2015)
  • Author(s): 飯柴佑太，菅谷純一，矢島邦昭，林忠之
  • Organizer: 平成27年度東北地区高等専門学校専攻科産学連携シンポジウム
  • Place of Presentation: 仙台高専広瀬キャンパス
  • Year and Date: 2015-12-05
• [Presentation] The Development of Fundamental Teaching Materials And the Inverted (2015)
  • Author(s): Yuta IISHIBA, Junichi SUGAYA, Kuniaki YAJIMA
  • Organizer: ICITEE 2015
  • Place of Presentation: タイ チェンマイ
  • Year and Date: 2015-10-27
  • Int'l Joint Research
• [Presentation] シーケンス制御による倒立振子の立位制御への応用 (2015)
  • Author(s): 飯柴佑太、菅谷純一、矢島邦昭
  • Organizer: 平成27年度電気関係学会北陸支部連合大会講演会
  • Place of Presentation: 金沢工業大学 扇が丘キャンパス
  • Year and Date: 2015-09-12
• [Funded Workshop] ICITEE 2015 (2015)
  • Place of Presentation: タイ チェンマイ
  • Year and Date: 2015-10-27