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

2017 Fiscal Year Final Research Report

• 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
• 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

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.

Free Research Field

複合教育