2 輪倒立モデルの解析と電子制御教育への応用
Contents
1. 1 Puppy Puppy Puppy Puppy Puppy dspace Puppy Puppy MATLAB simulink 2 7 MATLAB simulink Puppy Puppy 2 3 MATLAB simulink Fig 3 Fig 3 MATLA2. LM 7 1 2 2 vV 1 6 9 0 20 1 3 Ty M x Mor 02 r 2rL c0s0 1 J 290 r rLcos0 et a d Qt g Lsind cos 2 1 1 1 2 1 3 1 4 T Es a a a a 1 5 2 3 U MegL cos 5 12 8 1 6 2 4
3. te 10 he 23 ALSI LSI e learning e learning 0 pMOS CMOSFET LSI LSI
4. 2 SH 5 3 MATLAB simulink MATLAB simulink dspace Puppy 60 4
5. 9 lt 2 4 adit o 80 D8 0 a CR a 1 8 7 1 8 1 7 7 B M r MrL cos 7 92A77sin9 M r MrLcos0 7 2MrL cos8 ML Feb 0 MrL sin MgLsin 9 0 1 9 a m M yr J b MrLl c MI 1 u MgL Ge g 2 cos 9 sin 9 pe hie 0 a 1 10 1 10 2 5 PUPPY PUPPY
6. 1 1 60 1 Puppy Fig 6 Puppy dspace 3 2 Puppy MATLAB simulink 3 1 2 Prppy
7. 2009 pp 1 5 8 009 pp15 2 l 20 10 31 Analysis of Two Wheel Inverted Model and Its Application to the Education of Electronic Control Takeshi TANAKA Hiroyuki KATAOKA and Akihiro YAMADA Abstract Received Oct 31 2008 Hiroshima Instttute of Technology has been teaching integrated circuit designs and Semn1conductor processes since 1989 We made the lecture system about the fabrication of pMOS and CMOS FET using semiconductor processing and testing apparatus at Kitakyushu Science and Research Park for students To instruct an applhcation of electron device analysrs of Two wheel inVverted model was apphed to the education of the electronic control Key Words MATLAB simuhnk model based design electronic control 1 LSI
8. y Fig 1 Puppy 9 8 2 2 2 T gt 706 1 1 9
9. dspace 1 3 42 p 342 12 26 2002 7 31 http wwwr ksrp or jp shisetsu 02_center html 4 LSI IC 2005 pp 7 12 PUPPY L__ 5
10. 2 Puppy 2 2 2 PUPPY PUPPY PUPPY 2 1 Puppy
11. 9 0 9 0 cos gt 1 sin lt 9 1 10 g 9 IT 2 1 g g a 0 7 2 gM _ alD ac ac b a 5 D ac b _ a _ g ge 2 ge 6 2 25 c 3 a 5 a 26 c b 2 i ac b ac b 0 0 1 0 9 0 g g a 190 lt 2 3 DD gt 1 5 2 3 Puppy Fig 2 Fig 2 puppy w Puppy Puppy
12. B simulink Puppy Puppy simulink Fig 4 Fig 4 Puppy simulink Puppy dspace TT 1 om _ i i EE 8 Fig 5 Puppy Controldesk 2 Puppy dspace Controldesk Controldesk Puppy Puppy Fig 6 dspace Puppy Pupy Fig 5
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