Laboratory Experiment on Control Engineering Using Inverted Pendulum and a 32-Bit DSP CPU

Kazuhiko Yokosawa; Keisuke Ikeda; Ken Tomiyama

doi:10.20965/jrm.2011.p0717

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JRM Vol.23 No.5 pp. 717-723

doi: 10.20965/jrm.2011.p0717

(2011)

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Laboratory Experiment on Control Engineering Using Inverted Pendulum and a 32-Bit DSP CPU

Kazuhiko Yokosawa, Keisuke Ikeda, and Ken Tomiyama

Chiba Institute of Technology, 2-17-1 Tsudanuma, Narashino, Chiba 275-0016, Japan

Received:

March 7, 2011

Accepted:

April 27, 2011

Published:

October 20, 2011

Keywords:

inverted pendulum, laboratory experiment, control engineering, course material

Abstract

The major objective of the control engineering laboratory course teaching materials we have improved is to enable students to experience control theory effectively by stabilizing an inverted pendulum on a cart. Having used questionnaires and experiments to identify course weaknesses we tested our modifications to teaching materials in mock classes. We found that although students liked the new teaching materials, they could not, in practice, stabilize their pendulums. Considering all constraints, we implemented new hardware specifications for shorter pendulums. This enabled students to stabilize their pendulums and, in doing so, proved the effectiveness of the developed materials.

Cite this article as:

K. Yokosawa, K. Ikeda, and K. Tomiyama, “Laboratory Experiment on Control Engineering Using Inverted Pendulum and a 32-Bit DSP CPU,” J. Robot. Mechatron., Vol.23 No.5, pp. 717-723, 2011.

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References

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] J. Solis, R. Nakadate, Y. Yoshimura, Y. Hama, and A. Takanishi, “Development of the Two-Wheeled Inverted Pendulum Type Mobile Robot WV-2R for Educational Purposes,” Proc., The 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2347-2352, 2009.

[2] [2] J. Solis and A. Takanishi, “Development of a wheeled inverted pendulum robot and a pilot experiment with master students,” Proc., 2010 7th Int. Symposium on Mechatronics and its Applications (ISMA), pp. 1-6, 2010.

[3] [3] R. Bansevicius, A. Lipnickas, V. Juska, and V. Raudonis, “Piezoelectric Inverted Pendulum as a Teaching Aid for Mechatronics Courses,” Proc., IEEE Int. Workshop on Intelligent Data Acquisition and Advanced Computing Systems: Technology and Applications, pp. 21-23, 2009.

[4] [4] K. Toda, Y. Okumura, K. Tomiyama, and T. Furuta, “Hands-on Robotics Instruction Program for Beginners,” J. of Robotics and Mechatronics, Vol.23, No.5, 2011.

[5] [5] Y. Okumura, K. Toda, K. Tomiyama, and T. Furuta, “Developed Educational Robotics Instruction kit for embodying creativity: fpalette,” J. of Robotics and Mechatronics, Vol.23, No.5, 2011.

[6] [6] Y. Hayashibara, S. Nakajima, K. Tomiyama, and K. Yoneda, “Engineering Education in Advanced Robotics Department in Chiba Institute of Technology,” J. of Robotics and Mechatronics, Vol.23, No.5, 2011.

[7] [7] K. Matsuzaki and R. Hojo, “Investigation of Instructional Design for Portfolios Using as an Instructional Tool: A Case Study of EFL Writing at K Nursing School,” Educational Technology Research, No.31, pp. 115-123, 2008.

[8] [8] M. Thomas, M. Mitchell, and R. Joseph, “The Third Dimension of ADDIE: A Cultural Embrace,” Tech Trends, Vol.46, Issue 2, pp. 40-45, 2002.

[9] [9] S. G. Magliaro, B. B. Lockee, and J. K. Burton, “Direct Instruction Revisited: A Key Model for Instructional Technology,” Educational Technology Research and Development, Vol.53, No.4, pp. 41-55, 2005.

[10] [10] R. E. Mayer. “Multimedia Learning,” The Annual Report of Educational Psychology in Japan, pp. 27-29, 2002.