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Arduinoで何作ろう 次は倒立振子

https://blog.with2.net/link/?1965529

Arduinoで何作ろう 次は倒立振子

https://blog.with2.net/link/?1965529

前作にて自律走行についてはまだまだ課題はありますが一応完成はしたつもりです。

次はなにを作ってみようかと考えていますが、このまま自律走行を極めてみるか他に面白そうなアイテムはないかとネットを検索しています。やはり他のセンサを勉強してみたいということで調べていると、ジャイロを使った「倒立振子」というものが面白そうです。

倒立振子とは手のひらに棒を立てて倒れないように左右に動かしてバランスをとるというものです。手のひらで考えるとその動きは三次元で難解な制御になるが、二つの車輪の上となると一軸の制御だけになり比較的簡単なことになります。

昨今は大学や高専の制御工学の実習課題にもなっているようで、ネット上には沢山の情報があります。一応、自動制御を大学では研究課題としていて、企業に勤めても自動制御関連もこなしていた筆者ではありますが、そんなのは半世紀も前のことで今はすっかり忘れています。文献をみながら倒立振子の運動方程式を解読してみたが、さっぱり理解できない。昔はよくこんなことをやっていたものであると自分で自分に感心することしきりです。

気をとりなおして、理論が解らなくてもモノはできると勇ましい理屈をつけて、モノの構想に入ります。

参考にさせてもらったのが、

「もうひとつの倒立振子(デジタル版}」

http://www.instructables.com/id/Another-Easier-Inverted-Pendulum-in-Japanese/?lang=ja

主な部品は、

  • タミヤのダブルギヤボックス
  • タミヤのスリムタイヤセット
  • モータドライバ
  • ジャイロセンサ

というところです。

次回から構想にとりかかります。

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