3 0 0 0 OA 自己復元機構を有する倒立振子型移動ロボットにおける重心移動機構による姿勢角制御
1 0 0 0 OA PLC を用いた磁気浮上制御の教材装置の小型化
- 著者
- 小林 義光 浦崎 新八郎 三谷 祐一朗
- 出版者
- 一般社団法人 日本機械学会
- 雑誌
- ロボティクス・メカトロニクス講演会講演概要集 2017 (ISSN:24243124)
- 巻号頁・発行日
- pp.2P2-J11, 2017 (Released:2017-11-25)
This paper describes miniaturization of electromagnetic levitation equipment with a PLC (Programmable Logic Controller). In order to learn advanced control theory with PLC, we constructed electromagnetic levitation equipment with a PLC. However it is necessary to use a small electromagnet and measure a position of a floating object without a position sensor in order to realize electromagnetic levitation conveyance system as small educational tool. Therefore we tried to find a condition of miniaturization of the equipment. The feedback controller model is designed by the linear control theory and implemented into PLC. As results, we confirmed that it is possible realize stable levitation by using a small electromagnet of low resistance value and a hall element instead of the position sensor.