慣性ロータを用いた倒立振子実験教材の開発

概要

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We succeeded to develop an educational apparatus, which is an inverted pendulum control system with an inertia rotor, to support the learning of classical control theory. The inverted pendulum can become a tool to motivate the students to learn about the control theory because the standing of a pendulum on a metal bar, by keeping the balance automatically, is an extremely intriguing phenomenon. The newly developed apparatus has three features which are as follows: (1) The PD classical feedback control law has been applied contrary to the prevalent modern control method for inverted pendulums. (2) The designing process is based on the study of the regular course of Numazu NCT. (3) The apparatus is designed to have a compact size and to be mobile by using a microcomputer as the controller. We hope that these three features will make it possible to utilize the apparatus in classes of automatic control easily, and to encourage regular course students to attain the knowledge about control theory which is definitely an important aspect for their future as mechanical engineers.
2013-01-31