1

沼津工業高等専門学校研究報告
第 54 号，2020 年 1 月

༢㍈ࢫࢸ࣮ࢪࢆ⏝࠸ࡓࢩ࣮ࢣࣥࢫ࣭࣮ࣔࢩ࣭ࣙࣥ⌧௦ไᚚࡢ⤫ྜ࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢࡢヨࡳ୕㇂♸୍ᮁ ࣭ᮧ୰ᖖ㧗 Experimental Integrated Active Learning of Sequence -Motion-Modern Control SystemUsing the Single Axis Stage
MITANI Yuuichiroh*1, MURANAKA Tsunetaka*2
The new class was started this year to learn about the sequence, motion, and modern control in
the integrative manner. This class is opened for the fifth-grade of the mechanical engineering
department as an elective course. The achievement objective of this class is to get theprogramming skill of sequence and motion control, and the technical knowledge of design andimplementation of the modern controller to the PLC (Programmable Logic Controller). The
feature of this class is that the active learning style is introduced to encourage the students tolearn the new control technology by themselves through the group work. The assignment of thisclass is to control the swing motion of the single pendulum, and construct an inverted pendulum
control system by the motion control of the stage which supports the rotation shaft of thependulum. A text file and some manual files of the control equipment have been uploaded on thee-learning system in PDF format. The students can refer the documents to achieve theirassignment by themselves at their own pace. Three groups completed and succeeded to control
the inverted pendulum. The paper examination, which was held at the end of the term, showsthat 86% students were satisfied with the class and achieved the objective of this class.
Key Words:

Active learning, Sequence control, Single-axis stage, Programmable logic controller, Group work䠍䠊⥴ゝࢸࢫࢺ㸦⌧ᅾ㸪PLC ไᚚࢥࣥࢸࢫࢺ࡟ᨵྡ㸧࡞࡝㸪7 ᖺ㛫ࡢከࡃࡢ฼⏝ᐇ⦼ࡀ࠶ࡿ[2],[3]㸬ࡘࡲࡾ㸪PLC ࡀ㛤Ⓨࡉࢀࡓᙜึ

2012 ᖺᗘࡼࡾ㸪࣒࣭࢜ࣟࣥ㧗ᑓᶵᵓඹྠࣉࣟࢪ࢙ࢡࢺࡢ୍ࡢ㸪࣮࣭ࣜࣞࢩ࣮ࢣࣥࢫไᚚࡢࡓࡵ࡟฼⏝ࡍࡿ࡜࠸࠺ᙺ๭࠿ࡘ࡜ࡋ࡚㸪㧗ᑓࡢᩍ⫋ဨࡀ࣒࢜ࣟࣥᰴᘧ఍♫㸦௨ୗ㸪࣒࢜ࣟࡽ⬺༷ࡋ㸪㧗㏿࣭㧗⢭ᗘ࡞఩⨨Ỵࡵࡸ㏿ᗘ࣭ຍ㏿ᗘไᚚࢆ」ࣥ࡜⛠ࡍ㸧࡟࡚㸯ᖺ㛫㸪࣒࢜ࣟࣥ♫ဨ࡜ࡋ࡚ാࡃ㸪࠸ࢃࡤᩍᩘ㍈࡟ᑐࡋ࡚ྠᮇไᚚࡍࡿࡇ࡜ࡀ㸪ᙉࡃồࡵࡽࢀࡿ᫬௦࡟࡞⫋ဨ࡟࡜ࡗ࡚ࡢ࢖ࣥࢱ࣮ࣥࢩࢵࣉ࡜ࡶゝ࠼ࡿ㸪ࠕᩍဨ◊ಟࠖࡀࡗࡓ࡜ゝ࠼ࡿ㸬㛤ጞࡉࢀࡓ[1]㸬ࡑࡢึᖺᗘࡣ㸪௝ྎ㧗ᑓࡢబ⸨ᣅᩍဨࡀ◊ಟࡋ࠿ࡋࡑࡢ୍᪉࡛㸪ᡃࡀᅜࡢ⏕⏘ᖺ㱋ேཱྀࡣῶᑡࡢ୍㏵ࢆ࡟ཧຍࡋ㸪࣒࢜ࣟࣥࡢᮾி஦ᴗᡤෆ࡟࠶ࡿ㸪ࢭ࣑ࢼ࣭ᩍ⫱ㄢࡓ࡝ࡗ࡚࠾ࡾ㸪〇㐀ᴗ࡟࠾ࡅࡿேᮦ୙㊊ࡣ㸪῝้࡞ၥ㢟࡜࡞࡟࡚ᴗົ࡟ᦠࢃࡗࡓ㸬ࡑࡇ࡛㛤Ⓨࡉࢀࡓ㸪᪂ᆺ PLC ࡛࠶ࡿࡗ࡚࠸ࡿ㸬ࡍ࡞ࢃࡕ㸪ᑡᏊ㧗㱋໬࡟క࠸㸪௻ᴗࡀඃ⚽࡞ᢏ⾡

Sysmac NJ ࢆ⏝࠸ࡓ┤஺ XY ࢫࢸ࣮ࢪࡣ㸪ࡑࡢᚋ 20 ྎࡀ࢜⪅ࢆ☜ಖࡍࡿࡢࡀᅔ㞴࡞⌧≧ࡀ࠶ࡿ㸬ࡑࢀ࡟ຍ࠼࡚㸪࣋ࢸ࣒ࣛࣟࣥ࡟࡚㔞⏘ࡉࢀ㸪ᗈࡃᩍ⫱࡟ά⏝ࡉࢀ࡚࠸ࡿ㸬౛࠼ࡤ㸪ࣥᢏ⾡⪅ࡢ㧗㱋໬ࡸ㏥⫋࡟ࡼࡾ㸪௻ᴗ࡟࠾ࡅࡿᢏ⾡ࡢఏᢎࡸ㧗ᑓࡢᩍ⫋ဨࢆᑐ㇟࡜ࡋࡓࢭ࣑ࢼࡸ㸪࣒࢜ࣟࣥ♫ෆࡢ᪂ே◊⥔ᣢࡀ㞴ࡋࡃ࡞ࡗ࡚࠸ࡿ㸬ࡇࡢࡼ࠺࡞≧ἣୗ࡟࠾࠸࡚㸪᪥ᮏಟ㸪ࡉࡽ࡟ࡣ㸪࣒࣭࢜ࣟࣥ㧗ᑓᶵᵓඹྠࣉࣟࢪ࢙ࢡࢺ࡜ࡋ࡚㸪ࡢᢏ⾡ࡀⓎᒎࡋ࡚࠸ࡃࡓࡵ࡟ࡣ㸪ᢏ⾡⪅⮬㌟࡟࠾ࡅࡿ⏕⏘ᛶ඲ᅜ㧗ᑓ⏕ࢆᑐ㇟࡟㸪2011 ᖺᗘࡼࡾᐇ᪋ࡋ࡚࠸ࡿࠕไᚚᢏ⾡ࡢྥୖࡀ୙ྍḞ࡛࠶ࡿ࡜ゝ࠼ࡿ㸬ࡋ࠿ࡋ㸪ᚑ᮶ࡢ⫋ேᢏࡸࣀᩍ⫱࢟ࣕࣥࣉࠖ
㸪2014 ᖺᗘࡼࡾᐇ᪋ࡋ࡚࠸ࡿࠕ⏕⏘ᢏ⾡ࢥࣥ࢘ࣁ࢘࡟㢗ࡿࡇ࡜ࡀ࡛ࡁ࡞ࡃ࡞ࡗ࡚࠾ࡾ㸪ࡇࢀࡲ࡛࡟࡞࠸᪂ࡋ࠸ᢏ⾡ࡀᚲせ࡜࡞ࡗࡓ㸬*1 ᶵᲔᕤᏛ⛉ Department of 0HFKDQLFDO(QJLQHHULQJ*2 ࣒࢜ࣟࣥᰴᘧ఍♫ 2PURQ&RUSRUDWLRQࡇࡢၥ㢟࡟ᑐࡋ㸪PLC ࡟࠾ࡅࡿ࢔ࣉࣜࢣ࣮ࢩࣙࣥ㛤Ⓨࡢຠ⋡໬ࡢࡓࡵ࡟㸪1992 ᖺ࡟ PLCopen ࡀタ❧ࡉࢀࡓ㸬ࡇࢀࡣ㸪࣓࣮࢝ࡈ࡜ࡢࣉࣟࢢ࣒ࣛࡢᕪ␗ࢆ࡞ࡃࡋ㸪〇㐀ᴗ࡟࠾ࡅࡿᅜ2

沼津工業高等専門学校研究報告

第 54 号㝿ⓗ࡞Ⓨᒎࡢࡓࡵ࡟タ❧ࡉࢀࡓ➨୕⪅ᶵ㛵࡛࠶ࡾ㸪ࣉࣟࢢࣛ㟁※㸪ࢫ࢖ࢵࢳࣥࢢࣁࣈ࠿ࡽᡂࡾ㸪PLC ࡢྑഃ㠃࡟ࡣ㸪᣺Ꮚ࣒ࡢᵓ㐀໬ࡸ෌฼⏝ࢆྍ⬟࡜ࡍࡿࡓࡵ࡟㸪ᅜ㝿ᶆ‽つ᱁ IEC-ࡢ࢚ࣥࢥ࣮ࢲಙྕྲྀᚓ⏝ࡢᣑᙇࣘࢽࢵࢺࡀ௜࠸࡚࠸ࡿ㸬AC61131-3 ࡀไᐃࡉࢀࡓ[4]㸬ࡇࢀ࡟ࡼࡾ㸪㧗࠸ࢫ࢟ࣝࢆᣢࡓࡎ࡜ࢧ࣮࣎ࢻࣛ࢖ࣂࡣ㸪㉸㧗㏿㏻ಙࢩࢫࢸ࣒࡛࠶ࡿ EtherCATࡶ㸪ᶵᲔไᚚࣉࣟࢢ࣑ࣛࣥࢢࡢ⏕⏘ᛶࢆ኱ࡁࡃྥୖࡉࡏࡿ⎔(Ethernet for Control Automation Technology) ࡜࿧ࡤࢀࡿቃࡀᩚ࠸ࡘࡘ࠶ࡿ㸬ࡓࡔࡋࡇࡢືࡁࡣ㸪Ḣᕞ࡛ࡣࡍ࡛࡟ᗈࡲ⏘ᴗ⏝࣮࢜ࣉࣥࢿࢵࢺ࣮࣡ࢡ࡟ࡼࡾ PLC ࡜᥋⥆ࡋ㸪㧗㏿࣭㧗ࡗ࡚࠸ࡿࡀ㸪᪥ᮏ࡛ࡣࡲࡔᾐ㏱ࡋ࡚࠸࡞࠸≧ἣ࡟࠶ࡿ㸬⢭ᗘ࡞఩⨨Ỵࡵࡸ㏿ᗘไᚚ࡞࡝ࡀྍ⬟࡛࠶ࡿ㸬ࡲࡓ㸪⾲♧ჾࡑࡢ≧ἣࢆᑡࡋ࡛ࡶᨵၿࡍࡿࡓࡵ࡟㸪2015 ᖺᗘ㸪࣒࢜ࣟࣥ࡜ PLC ࡜ࡣ EtherNet/IP ㏻ಙࢆ⾜࠸㸪ධฟຊࡸไᚚ㔞ࡢࣔࡼࡾࡑࡢ┤஺ XY ࢫࢸ࣮ࢪࢆ 8 ྎ೉⏝ࡋ㸪἟ὠ㧗ᑓ࡟࡚ࠕPLCࢽࢱࣜࣥࢢ࡞࡝ࡀ࡛ࡁࡿ㸬ࡇࢀࡽࡢ PLC ࡞࡝ࡢไᚚᶵჾࢆ㸪ࢆ⏝࠸ࡓࢧ࣮࣎ไᚚࠖ࡜㢟ࡋ࡚㸪௻ᴗᢏ⾡⪅ࢆᑐ㇟࡟බ㛤ㅮࡑࢀࡽࡢ⫼㠃࡟࡚࢔࣑ࣝᯈ࡟ᅛᐃࡋ࡚࠾ࡾ㸪⾲♧ჾࡢୖ㒊࡟ᗙࢆᐇ᪋ࡋࡓ㸬ᐇ᪋ෆᐜࡣ㸪࣒࢜ࣟࣥࡀ㧗ᑓᩍ⫋ဨ࡟⾜ࡗࡓ✵ࡅࡓྲྀᡭࢆᣢࡗ࡚∦ᡭ࡛㐠ᦙ࡛ࡁࡿ㸬⾲ 1 ࡟㸪୺࡞ᵓᡂ㒊ࡶࡢ࡜ྠ୍࡜ࡋ㸪1 ᪥࡛ࡢ㛤ദ࡜ࡋࡓ㸬ᐇ᪋ᚋࡢ࢔ࣥࢣ࣮ࢺရࡢࣜࢫࢺࢆ♧ࡍ㸬⤖ᯝࡼࡾ㸪ཷㅮ⪅ࡢホ౯ࡣ㠀ᖖ࡟㧗ࡃ㸪PLC ࡟ࡼࡿ࣮ࣔࢩࣙࣥไᚚࢆࡣࡌࡵ࡜ࡍࡿ㸪㧗㏿࡞ไᚚᶵჾ࡜ࡢ㏻ಙ࡟ࡼࡿไᚚ

AC ࢧ࣮࣎ࢻࣛ࢖ࣂᢏ⾡ࡣ㸪♫఍࠿ࡽࡢᙉ࠸ࢽ࣮ࢬࡀ࠶ࡿࡇ࡜ࢆᐇឤࡋࡓ㸬ࡋ࠿⾲♧ჾࡋ㸪ࡑࡢබ㛤ㅮᗙࢆᐇ᪋ࡍࡿ㝿࡟኱ኚⱞປࡋࡓࡇ࡜ࡀ࠶ࡗࡓ㸬ࡑࢀࡣ㸪ᶵᮦࡢ㐠ᦙࡸⓎ㏦ࡀ㔜ປാࡔࡗࡓࡇ࡜࡛࠶ࡿ㸬┤஺
XY ࢫࢸ࣮ࢪᶵᮦ 1 ࢭࢵࢺࡣ㸪PLC ࡸࢧ࣮࣎ࢻࣛ࢖ࣂ࠿ࡽ࡞ࡿไᚚ┙࡜㸪XY ࢫࢸ࣮ࢪ࠿ࡽᵓᡂࡉࢀࡿ㸬ࡑࢀࡒࢀࡀ㔠ᒓ࢚ࣥࢥ࣮ࢲ〇ࡢࢺࣛࣥࢡ࡟ࡑࢀࡒࢀ཰⣡ࡉࢀ㸪㐠ᦙ⏝ࡢྲྀᡭࡀ௜࠸࡚࠸ࡀཝࡋ࠸⛬࡛࠶ࡾ㸪ࡑࢀࢆᒆ࠸ࡓᘓ≀ࡢ 2 㝵࠿ࡽ㝆ࢁࡋ㸪ㅮᗙࡢ㛤ദ఍ሙ࡛࠶ࡿูࡢᘓ≀ࡢ 4 㝵࡟㐠ᦙࡋ࡚㸪⤊஢ᚋ࡟ࡲධຊࣘࢽࢵࢺ

PLCࡿ㸬ࡋ࠿ࡋࡑࡢ㔜㔞ࡣ㸪ᡂே⏨ᛶ࡛ࡶ୧ᡭ࡟㸯ࡘࡎࡘᣢࡘࡢ
DC 㟁※ࢫ࢖ࢵࢳࣥࢢࡓඖࡢሙᡤ࡬㐠ᦙࡍࡿࡢࡣ㸪኱ኚ࡞㔜ປാ࡛࠶ࡗࡓ㸬ࣁࣈࡑࡇ࡛ྠᖺ㸪ዪᏊᏛ⏕࡛ࡶ඘ศᣢࡕ㐠ࡧ࡛ࡁࡿࢧ࢖ࢬࡢ㸪༢㍈ࢫࢸ࣮ࢪไᚚᩍᮦࡢ〇స࡟฿ࡗࡓ㸬〇సண⟬࡜ࡋ࡚㸪Ꮫෆ࣐ࢫࢱ࣮ࣉࣛࣥࢆ⏦ㄳࡋ࡚⋓ᚓࡋ㸪
2017 ᖺᗘ࡟༞ᴗ◊✲࡟࡚ヨస㸪ᛶ⬟ヨ㦂ࡢࡢࡕ㸪2018 ᖺᗘ࡟ 8 ྎࢆ㔞⏘ࡋࡓ㸬ࡑࡋ࢚ࣥࢥ࣮ࢲAC ࢧ࣮࣮࣎ࣔࢱ

࡚ 2019 ᖺᗘ㸪ᶵᲔᕤᏛ⛉ 5 ᖺࡢ㑅ᢥ⛉┠ࠕࢩࢫࢸ࣒ไᚚᕤᏛᇶ♏ࠖ࡟࡚㸪࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢᙧᘧ࡟࡚ά⏝ࡋࡓ㸬22ྡࡢᏛ⏕ࡀཷㅮࡋ㸪୍⌜ 2㹼3 ྡࡢྜィ 8 ⌜ᵓᡂ࡛ᐇ᪋ࡋࡓ㸬᣺ᏊᏛ⏕㐩ࡣࢢ࣮ࣝࣉ࣮࣡ࢡ࡟ࡼࡾ㸪㸯㸧ྂ඾ไᚚ๎࡟ࡼࡿ᣺Ꮚ࣋ࣝࢺࡢไ᣺ไᚚ㸪㸰㸧⌧௦ไᚚ⌮ㄽ࡟ࡼࡿಽ❧᣺Ꮚࡢ㸪㸰ࡘࡢㄢ㏆᥋ࢭࣥࢧ

ᅗ 1 ༢㍈ࢫࢸ࣮ࢪᐇ㦂⿦⨨㢟࡟ྲྀࡾ⤌ࢇࡔ㸬ᮏሗ࡛ࡣ㸪⏝࠸ࡓ⿦⨨㸪ᤵᴗෆᐜ㸪࠾ࡼࡧᡂᯝ࡟ࡘ࠸࡚ሗ࿌ࡍࡿ㸬䠎䠊ᐇ㦂⿦⨨     ⾲ 1 ༢㍈ࢫࢸ࣮ࢪ୺せ㒊ရ
1R

ရྡ

ᆺᘧ

ᅗ 1 ࡟㸪ᮏㅮ⩏࡛౑⏝ࡋࡓᐇ㦂⿦⨨ࢆ♧ࡍ㸬ᣢࡕ㐠ࡧࡸ஺



3/&

1;3'7᥮ࢆࡋࡸࡍࡃࡍࡿࡓࡵ࡟㸪༢㍈ࢫࢸ࣮ࢪࡣ⊂❧ࡉࡏ㸪ࢥࢿࢡ$& ࢧ࣮࣮࣎ࣔࢱ

5006ࢱࢆ⏝࠸࡚⤖ྜ࡛ࡁࡿࡼ࠺࡟ࡋࡓ㸬ᅗ 1 ࡢୗഃ࡟♧ࡋࡓࢫࢸ$& ࢧ࣮࣎ࢻࣛ࢖ࣂ

5'61/(&7࣮ࢪࡣ㸪AC ࢧ࣮࣮࣎ࣔࢱࢆ⏝࠸࡚࣋ࣝࢺ࡟ࡼࡾỈᖹ᪉ྥ࡟ືຊࢣ࣮ࣈࣝ

5$&$.$6㥑ື࡛ࡁ㸪ࢫࢸ࣮ࢪ୧➃࡟ࡣ㝈⏺ࢭࣥࢧ࡜ࡋ࡚ࡢ㏆᥋ࢭࣥࢧ࢚ࣥࢥ࣮ࢲࢣ࣮ࣈࣝ

5$&5.$&ࢆタ⨨ࡋࡓ㸬ྎ㌴࡟ྲྀ௜ࡅࡓ᣺Ꮚ࡟ࡣ㸪࢚ࣥࢥ࣮ࢲࢆྠ㍈࡟696タ⨨ࡋ㸪᣺Ꮚࡢゅᗘ᝟ሗࢆྲྀᚓ࡛ࡁࡿࡼ࠺࡟ࡋࡓ㸬ᅗ 1 ࡢୖࢫ࢖ࢵࢳࣥࢢ࣭
ࣃ࣮࣡ࢧࣉࣛ࢖⏘ᴗ⏝ࢫ࢖ࢵࢳࣥࢢࣁࣈ:6%⏘ᴗ⏝࢖࣮ࢧࢿࢵࢺࢣ࣮ࣈࣝ(WKHU&$7 ;6:38566&0*ഃ࡟♧ࡋࡓไᚚ┙ࡣ୺࡜ࡋ࡚㸪ࢥࣥࢺ࣮࡛ࣟࣛ࠶ࡿ PLC㸪ACࢧ࣮࣎ࢻࣛ࢖ࣂ㸪⾲♧ჾ㸦ࣉࣟࢢ࣐ࣛࣈࣝࢱ࣮࣑ࢼࣝ㸧㸪DC単軸ステージを用いたシーケンス・モーション・現代制御の統合アクティブラーニングの試み⾲♧ჾ ,2 㟁※㏣ຍ౪⤥ࣘࢽࢵࢺ࢖ࣥࢡ࣓ࣜࣥࢱࣝᆺ࣮ࣟࢱ࢚ࣜࣥࢥ࣮ࢲ࢖ࣥࢡ࣓ࣜࣥࢱ࢚ࣝࣥࢥ࣮ࢲධຊࣘࢽࢵࢺ ࣇࣛࢵࢺࢱ࢖ࣉ㏆᥋ࢭࣥࢧ

1$:%

360 ᗘ/2000/2ms = 90 ᗘ/sec ࡜࡞ࡿ㸬᣺Ꮚࡢไ᣺ไᚚࡸಽ❧1;3)

᣺Ꮚࡢไᚚࢆ⪃࠼ࡓ㝿㸪ࡇࡢศゎ⬟࡛ࡣ୙༑ศࡢࡼ࠺࡟ᛮࢃ

($&:&350ࢀࡓࡀ㸪ࡑࢀ࡯࡝኱ࡁ࡞ᨭ㞀ࡣ࡞࠸ࡇ࡜ࢆ㸪5 ❶࡟♧ࡍᐇ㦂

1;(&7/:0&౑⏝ࡋࡓ PLC ࠾ࡼࡧࢧ࣮࣮࣎ࣔࢱࡢ㸪୺࡞௙ᵝࡣ௨ୗࡢ⾲ 2㸪⾲ 3 ࡟♧ࡍ࡜࠾ࡾ࡛࠶ࡿ㸬    ⾲ 2 PLC (NX1P2-1140DT)ࡢ௙ᵝ *1
㡯┠㏻ಙ⏝ࢥࢿࢡࢱNX ࣂࢫࢥࢿࢡࢱ࢜ࣉࢩ࣮ࣙࣥ࣎ࢻࢫࣟࢵࢺ
ࣉࣛ࢖࣐ࣜ࿘ᮇไᚚ㍈᭱኱ᩘ㟁※㟁ᅽෆⶶ I/O3௙ᵝEthernet/IP ⏝ RJ451EtherCAT ⏝ RJ451NX ࣘࢽࢵࢺ 8 ྎቑタྍ2ಶ
᭱ᑠ 1ms
12 ㍈
24V
ධຊ 24 Ⅼฟຊ 16 Ⅼ*1 ࣒࣮࣒࣮࢜ࣟࣥ࣍࣌ࢪࡢ௙ᵝࡼࡾᘬ⏝ࡼࡾ☜ㄆࡋࡓ㸬䠏䠊䝔䜻䝇䝖䛾ෆᐜᮏㅮ⩏࡛⏝࠸ࡓࢸ࢟ࢫࢺࡣ㸪἟ὠ㧗ᑓ࡟࡚ E-learning ࢩࢫࢸ࣒࡜ࡋ࡚㐠⏝ࡍࡿࣇ࣮ࣜࢯࣇࢺ࢙࢘࢔ Moodle ࡟ᥖ㍕ࡋ㸪Ꮫ⏕ࡀ⮬⏤࡟ࢲ࣮࢘ࣥࣟࢻ㸪㜀ぴ࡛ࡁࡿࡼ࠺࡟ࡋࡓ㸬ࡲࡓ㸪ྛไᚚᶵჾࡢ࣐ࢽࣗ࢔ࣝࢆ㸪࣒࢜ࣟࣥࡢ࣮࣒࣮࣍࣌ࢪࡼࡾࢲ
࣮࢘ࣥࣟࢻࡋ㸪ྠࡌࡃ Moodle ࡟ᥖ㍕ࡋࡓ㸬ࡉࡽ࡟㸪᭱⤊ㄢ㢟࡛࠶ࡿಽ❧᣺Ꮚࡢไᚚ⏝ࣉࣟࢢ࣒ࣛࢆసᡂࡍࡿ㝿ࡢཧ⪃࡜ࡋ࡚㸪ⴭ⪅ࡀ࣒࢜ࣟࣥ࡟࡚◊ಟࢆཷࡅࡓ 2013 ᖺᗘ࡟㸪㧗ᑓᩍ⫋ဨࢆᑐ㇟࡜ࡍࡿࢭ࣑ࢼ⏝࡟సᡂࡋࡓࢸ࢟ࢫࢺࣇ࢓࢖ࣝࡶ
ྠᵝ࡟ᥖ㍕ࡋ㸪Ꮫ⏕࡟฼⏝ࡉࡏࡓ㸬ᮏᤵᴗ⏝࡟సᡂࡋࡓࢸ࢟ࢫࢺࡣ㸪௨ୗࡢ❶࡟࡚ᵓᡂࡋࡓ㸬ࡇࡢෆᐜࡣ㸪᣺Ꮚࡢไᚚ࡟⮳ࡿࡲ࡛ࡢᡭ㡰᭩࡜࡞ࡗ࡚࠾ࡾ㸪ࡇࡢ㡰࡛⮬Ꮫ⮬⩦ࢆ㐍ࡵࢀࡤ㸪PLC ࡸ⾲♧ჾࡢᮍ⤒㦂⪅࡛࠶ࡗ࡚ࡶ㸪ㄢ㢟ࡀ㐩ᡂ࡛ࡁࡿࡼ࠺࡞ᵓᡂ࡜ࡋࡓ㸬➨ 1 ❶ ᐇ⩦ᶵᮦ࣭㛤Ⓨ⏝ࢯࣇࢺ࢙࢘࢔     ⾲ 3 ࢧ࣮࣮࣎ࣔࢱࡢ௙ᵝ *2㡯┠㟁※㟁ᅽᐃ᱁ฟຊᐃ᱁ࢺࣝࢡᐃ᱁ᅇ㌿ᩘ᭱኱ᅇ㌿ᩘ▐᫬᭱኱ࢺࣝࢡᐃ᱁㟁ὶ▐᫬᭱኱㟁ὶ௙ᵝAC100V
100W
0.318Nm
3000r/min
6000r/min
0.95Nm1.5A(rms)
4.7A(rms)➨ 2 ❶ PLC࣭⾲♧ჾ࡜ࡢ᥋⥆࣭ึᮇタᐃ➨ 3 ❶ ⾲♧ჾࡢ⏬㠃సᡂ
➨ 4 ❶ ࣉࣟࢢ࣑ࣛࣥࢢ
➨ 5 ❶ ࣮ࣔࢩࣙࣥไᚚ
➨ 6 ❶ MATLAB® / Simulink®ࢆ⏝࠸ࡓ FB (FunctionBlock)ࡢసᡂ
➨ 7 ❶ ಽ❧᣺Ꮚࡢไᚚ
௜㘓㸯 ᣺Ꮚࡢࣔࢹࣜࣥࢢ࡜ไᚚ

*2 ࣒࣮࣒࣮࢜ࣟࣥ࣍࣌ࢪࡢ௙ᵝࡼࡾᘬ⏝௜㘓 2 ᭱㐺ࣞࢠ࣮ࣗࣞࢱࢆ⏝࠸ࡓไᚚ⣔ࡢタィࢫࢸ࣮ࢪࡣ㸪࣮ࣔࢱ㍈࡟ྲྀ௜ࡅࡓࣉ࣮ࣜ࡟ࡼࡿ࣋ࣝࢺ㥑ືࢸ࢟ࢫࢺࡢෑ㢌࡛ࡣ㸪⿦⨨࡟⏝࠸࡚࠸ࡿไᚚᶵჾ࠾ࡼࡧ㸪࡛࠶ࡾ㸪ࣉ࣮ࣜࡢṑᩘࡣ 24㸪࣋ࣝࢺࡢᒣࡢᖜࡣ 5mm ࡛࠶ࡿࣉࣟࢢ࣑ࣛࣥࢢ࡟⏝࠸ࡿࢯࣇࢺ࢙࢘࢔ࡢ⤂௓ࡸ≉ᚩࢆ㏙࡭ࡓ㸬ࡇ࡜ࡼࡾ㸪࣮ࣔࢱ 1 ᅇ㌿࡛ࢫࢸ࣮ࢪࡣ 120mm ⛣ືࡍࡿ㸬ࡋࡲࡓ㸪ไᚚᶵჾࡢ᥋⥆ࡀ࡛ࡁࡿࡼ࠺࡟㸪㓄⥺࡟ࡘ࠸࡚ࡶ࣒࢜ࡓࡀࡗ࡚⾲ 3 ࡢᐃ᱁ᅇ㌿ᩘࡼࡾ㸪ࢫࢸ࣮ࢪࡢ᭱㧗㏿ᗘࡣࣟࣥࡢ࣐ࢽࣗ࢔ࣝࢆ㐺ᐅᘬ⏝ࡋ࡚ㄝ᫂ࡋࡓ㸬࡞࠾㸪ࡇࡇ࡛⏝

6m/sec ࡜࡞ࡿ㸬ࢫࢸ࣮ࢪ࡟୚࠼ࡿࡇ࡜ࡀ࡛ࡁࡿ࣮ࣔࢩࣙࣥ࿨

࠸ࡓ PLC (NX1P) ࡟ࡣ㸪ࢹࢪࢱࣝ IO ࡀෆⶶࡉࢀ࡚࠾ࡾ㸪ධ

௧࡜ࡋ࡚㏿ᗘไᚚ࿨௧ࡀ࠶ࡾ㸪ᮏᐇ㦂⿦⨨࡟࡚ྲྀᢅ࠺᣺Ꮚࡢฟຊᶵჾࢆ᥋⥆࡛ࡁࡿ㸬ࡋ࠿ࡋ㸪⿦⨨ࡢࢫ࣮࣌ࢫࡸ〇సࡢᡭไᚚ࡟࠾࠸࡚ࡣ㸪PLC ࡼࡾ㏿ᗘࢆไᚚධຊ࡜ࡋ࡚୚࠼ࡿ㸬ࡋ㛫ࢆ⪃៖ࡋ㸪ࡑࢀࡽࢆ࠶࠼࡚౑ࢃࡎ㸪⾲♧ჾ࡛௦⏝ࡋࡓ㸬ࡋࡓࡀࡗ࡚㸪⥺ᙧไᚚ๎ࢆ㐺⏝ࡍࡿሙྜࡣ㸪ไᚚධຊ್ࡀࡇࡢࡓࡀࡗ࡚㸪ࣛࢲ࣮ࣉࣟࢢ࣒ࣛ࡞࡝࡟⏝࠸ࡿࢫ࢖ࢵࢳࡸࣛࣥࣉ᭱㧗㏿ᗘࢆ㉸࠼࡞࠸ࡇ࡜ࢆ☜ㄆࡍࡿᚲせࡀ࠶ࡿ㸬ࡲࡓ㸪ࢧ࣮㢮ࡣ㸪⾲♧ჾ࡟ᵓᡂࡍࡿࡇ࡜࡜ࡋ㸪ࢸ࢟ࢫࢺࡢ᭱ึࡢ᪉࡟ㄝ

࣮࣎ࣔࢱ⏝࢚ࣥࢥ࣮ࢲࡣ 23 ࣅࢵࢺ࡛࠶ࡿࡢ࡛㸪⣙ 0.143Pm

᫂ࢆタࡅࡓ㸬ࢫ࢖ࢵࢳࡸࣛࣥࣉ㸪ࢭࣥࢧ࡞࡝ࢆู㏵‽ഛࡍࢀࡢ఩⨨Ỵࡵ⢭ᗘࢆᣢࡘ㸬ࡤ㸪ࡑࢀࡽࢆ⏝࠸ࡓᏛ⩦࡬ࡢᣑᙇࡶᐜ࡛᫆࠶ࡿ㸬୍᪉㸪᣺Ꮚ࡟ྲྀ௜ࡅࡓ࢚ࣥࢥ࣮ࢲࡣ㸪⾲ 1 ࡢ No.11 ࡼࡾ
500P/R (pulse/rev)࡛࠶ࡿࡢ࡛㸪
4㏴ಸࡋ࡚⏝࠸ࡿ࡜㸪
2000P/Rࢸ࢟ࢫࢺᚋ༙࡛ࡣ㸪ࣛࢲ࣮ࣉࣟࢢ࣒ࣛࡢᇶᮏⓗ࡞ධຊ᪉ἲ
ࡸ࣮ࣔࢩࣙࣥไᚚࡢࡓࡵࡢᇶ♏࡜࡞ࡿ FB ࢆ⡆༢࡟⤂௓ࡋࡓ

࡛࠶ࡿ㸬PLC ࡢࣉࣛ࢖࣐ࣜࢱࢫࢡࡣࢹࣇ࢛ࣝࢺ್ࡀ 2ms ࡛ᚋ㸪➨㸴❶࠿ࡽࡢ MATLAB / Simulink ࢆ⏝࠸ࡓ FB ࡢసᡂ࠶ࡾ㸪ኚ᭦ࡏࡎ࡟⏝࠸ࡓሙྜ㸪᣺Ꮚࡢᅇ㌿ゅ㏿ᗘࡢศゎ⬟ࡣ㸪ᡭ㡰ࢆ㸪ࣃࢯࢥࣥࡢࢫࢡ࣮ࣜࣥࢩࣙࢵࢺࢆከࡃᥖ㍕ࡋ࡚㸪ヲ

4

沼津工業高等専門学校研究報告

第 54 号⣽࡟ㄝ᫂ࡋࡓ㸬ࡇࡇ࡛ྲྀࡾୖࡆࡓ༢᣺Ꮚࡢไ᣺ไᚚࡣ㸪ḟ❶ࡋࡓࡀࡗ࡚㸪ῶ⾶ࡸᦶ᧿ࢆ↓どࡍࡿ࡜㸪㐠ື᪉⛬ᘧࡣᘧ(2)㸪

࡛㏙࡭ࡿࡼ࠺࡟㸪᣺Ꮚࡢゅᗘಙྕࡢࡳࢆࣇ࢕࣮ࢻࣂࢵࢡࡍࡿ(3)ࡢࡼ࠺࡟᭩ࡁ⾲ࡉࢀࡿ㸬g ࡣ㔜ຊຍ㏿ᗘ࡛࠶ࡿ㸬ࡇ࡜࡛㸪᣺Ꮚ㐠ືࡢῶ⾶ຠᯝࢆ⏕ࡌࡉࡿ㸪㠀ᖖ࡟⡆༢࡞ไᚚࢩࢫࢸ࣒ࡢ஦౛࡛࠶ࡿ㸬ᡭ㡰࡟ᚑࡗ࡚᧯సࡍࢀࡤ㸪ไᚚ⌮ㄽࢆᢕᥱࡏࡎ࡜ࡶ㸪ไ᣺ᐇ㦂ࢆヨࡍࡇ࡜ࡀྍ⬟࡛࠶ࡿ㸬ࢸ࢟ࢫࢺࡢ᭱ᚋࡢ௜㘓ࡣ㸪୺࡜ࡋ࡚Ꮫ⏕ࡢ࣏࣮ࣞࢺసᡂ᫬ࡢ⮬୺Ꮫ⩦⏝࡟ᥖ㍕ࡋࡓ㸬ࡇࡇࢆᏛ⩦ࡍࡿࡇ࡜࡛㸪➨ 7 ❶ࡢ ᪉ྥ㸸 ᪉ྥ㸸݀ଶሺ െ   Ʌሻ ൌ  Ʌ    ሺʹሻ݀‫ ݐ‬ଶଶሺെ  Ʌሻ ൌ ଶ Ʌ െ    ሺ͵ሻಽ❧᣺Ꮚ࡟ᚲせ࡞㸪ᚲせ᭱ᑠ㝈ࡢ⌧௦ไᚚ⌮ㄽࢆᏛࡪࡇ࡜ࡀ

ࡇࢀࡽࡼࡾ F ࢆᾘཤࡍࡿ࡜㸪௨ୗࡢ㠀⥺ᙧᚤศ᪉⛬ᘧࡀᚓࡽ࡛ࡁࡿ㸬ࢀࡿ㸬䠐䠊ไᚚᑐ㇟䛾䝰䝕䝸䞁䜾䛚䜘䜃ไᚚ๎ไᚚჾࡢタィ࡟࠾࠸࡚ࡣ㸪ไᚚᑐ㇟ࡢࣔࢹࣜࣥࢢࡀ᭱ࡶ㔜せ࡛࠶ࡿ࡜ゝࡗ࡚ࡶ㐣ゝ࡛ࡣ࡞ࡃ㸪ࣔࢹࣜࣥࢢࡀᐇᶵ࡟࠾ࡅ
ࡿไᚚᛶ⬟ࢆᕥྑࡍࡿ㸬ࡋ࠿ࡋᮏᤵᴗ࡟࠾࠸࡚ࡣ㸪MATLAB/ Simulink ࢆ⏝࠸࡚タィࡋࡓไᚚჾࢆ PLC ࡟ᐇ⿦ࡋ㸪ࣛࢲ࣮ࣉࣟࢢ࣒ࣛୖ࡛⏝࠸ࡿࡓࡵࡢ᪉ἲ࡟୺║ࢆ⨨ࡃ㸬ࡋࡓࡀࡗሷɅሷ ൌ െ  Ʌ ൅  Ʌ           ሺͶሻȟࡀᚤᑠ࡛࠶ࡿ࡜ࡋ࡚⥺ᙧ໬ࡍࡿ࡜㸪௨ୗࡢᘧ࡜࡞ࡿ㸬ሷɅሷ ൌ െ Ʌ ൅               ሺͷሻ࡚⡆༢ࡢࡓࡵ࡟㸪᣺Ꮚࡢࣔࢹࣜࣥࢢࡣ⢓ᛶࡸᦶ᧿ࢆ⪃៖ࡋ࡚ࡇࡢᘧ࠿ࡽ㸪ึᮇ್ θ(0)=θ0 ࢆ୚࠼ࡓ࡜ࡁ㸪ࣇ࢕࣮ࢻࣂࢵࢡࢤ࠸࡞࠸㸬ࡑࡢ⤖ᯝ㸪ᐇᶵ࡟࠾ࡅࡿไᚚᛶ⬟ࡣࢩ࣑࣮ࣗࣞࢩࣙ

࢖ࣥࢆ kd ࡜ࡋ࡚㸪ࣥ࡜ࡣ ኱ࡁࡃ␗࡞ࡿࡀ㸪᣺Ꮚࡀ࡞ࡐไ᣺ຠᯝࢆᚓࡿࡢ࠿㸪ࡑࡢ⌮ゎ࡜ᐇᶵࢆ⏝࠸ࡓ☜ㄆ࡟␃ࡵࡿࡇ࡜࡜ࡋࡓ㸬ᅗ 2 ࡟㸪
ྎ㌴ࡢຍ㏿ᗘไᚚ࡟ࡼࡿ᣺Ꮚࡢไᚚࣔࢹࣝࢆ♧ࡍ㸬ྛグྕࡢព࿡ࡣ㸪௨ୗࡢ࡜࠾ࡾ࡛࠶ࡿ㸬ሷ ൌ െ ୢ Ʌሶ                ሺ͸ሻ࡜ࡍࢀࡤῶ⾶ຠᯝࡀᚓࡽࢀ㸪᣺Ꮚࡀไ᣺࡛ࡁࡿࡇ࡜ࡀศ࠿ࡿ㸬
ࡓࡔࡋ㸪PLC ࡟ᐇ⿦࡛ࡁࡿࢥࣥࢺ࣮ࣟࣛ࡟ࡣ㸪ྎ㌴㸪ࡍ࡞ࢃࡕ AC ࢧ࣮࣮࣎ࣔࢱࡢຍ㏿ᗘࢆ┤᥋ไᚚࡍࡿᶵ⬟ࡣ࡞࠸㸬ࡋ࠿ࡋ㸪㏿ᗘࢆไᚚࡍࡿᶵ⬟ࡣවࡡഛ࠼࡚࠸ࡿ㸬ࡑࡇ࡛㸪ᘧ(6)ࡢ୧㎶ࢆ୍㝵✚ศࡋ㸪ᘧ(7)ࡢࡼ࠺࡟᣺Ꮚࡢゅᗘࢆ㏿ᗘᣦ௧್࡜ࡋ࡚ࣇ࢕࣮ࢻࣂࢵࢡࡍࢀࡤ㸪᣺Ꮚࡢゅ㏿ᗘࢆࣇ࢕࣮ࢻࣂࢵ
ࢡࡋ࡚ྎ㌴ࡢຍ㏿ᗘࢆไᚚࡋࡓሙྜ࡜ྠᵝࡢຠᯝࡀᚓࡽࢀࡿ㸬ሶ ൌ െ ୢ Ʌ                ሺ͹ሻࡍ࡞ࢃࡕ㸪ᮏไᚚ⿦⨨ࢆ⏝࠸࡚Ꮫ⏕㐩ࡀ᭱ึ࡟ᵓ⠏ࡍࡿไ᣺ไᚚჾࡣ㸪᣺Ꮚࡢゅᗘಙྕࢆᐃᩘಸࡍࡿࡔࡅࡢ㸪᭱ࡶ⡆༢࡞ไᚚჾ࡛࠶ࡿ㸬ᅗ 2 ᣺Ꮚࡢไ᣺ࣔࢹࣝ䠑䠊ไᚚჾ䛾ᐇ⿦㹫㸸᣺Ꮚࡢ㉁㔞

๓❶࡛ㄝ᫂ࡋࡓࡼ࠺࡟㸪ࡇࡇ࡛⏝࠸ࡿไᚚჾࡣ㸪᣺Ꮚࡢゅ㹖㸸ྎ㌴ࡢ఩⨨ᗘ࡜࠸࠺≀⌮㔞ࢆᐃᩘಸࡍࡿ࡜࠸࠺㸪1 ᅇࡢ஌⟬ࢆせࡍࡿࡢ㹄㸸᣺Ꮚࡢᅇ㌿㍈࡟స⏝ࡍࡿຊࡳ࡛࠶ࡿ㸬ࡋࡓࡀࡗ࡚ MATLAB ࡟ࡼࡿไᚚ⣔ࡢタィࡸ㹊㸸᣺Ꮚࡢᅇ㌿㍈࠿ࡽ㔜ᚰࡲ࡛ࡢ㊥㞳Simulink ࡟ࡼࡿไᚚຠᯝࡢ᳨ドࡣ࡯ࡰ୙せ࡛࠶ࡾ㸪ࣛࢲ࣮ȟ㸸᣺Ꮚࡢᅇ㌿ゅᗘ㸦᫬ィᅇࡾࡀṇ㸧ࣉࣟࢢ࣒ࣛ⏝࡟‽ഛࡉࢀࡓ᪤Ꮡࡢࣇ࢓ࣥࢡࢩࣙࣥࡸ㸪STྎ㌴ࡢືࡁࡣ㸪AC ࢧ࣮࣮࣎ࣔࢱ࡟ࡼࡾṇ☜࡟ไᚚࡉࢀࡿࡢ࡛㸪ไᚚධຊࡣྎ㌴ࡢゅ㏿ᗘ ሷ ࡛୚࠼ࡿ㸬ࡇࡢ࡜ࡁ㸪᣺Ꮚࡢ㔜ᚰᗙᶆࡣ௨ୗࡢᘧ࡛୚࠼ࡽࢀࡿ㸬ሺ െ   Ʌ ǡ െ Ʌሻ          ሺͳሻ(Structured Text) ゝㄒ࡟ࡼࡾᐜ᫆࡟グ㏙࡛ࡁࡿ㸬ࡲࡓ㸪஌⟬ࡍࡿᐃᩘ್ࢆヨ⾜㘒ㄗ࡟ࡼࡾ୚࠼ࢀࡤ㸪㐺ษ࡞ไ᣺ไᚚࡀ㐩ᡂ࡛ࡁࡿ㸬ࡋ࠿ࡋ㸪ࡇࡇ࡛ㄝ᫂ࡍࡿ୍㐃ࡢ᧯సࢆ⩦ᚓࡍࢀࡤ㸪」㞧࡞ไᚚჾࡶ඲ࡃྠᵝࡢᡭἲࢆ⏝࠸࡚㸪PLC ࡬ࡢᐇ⿦ࡀྍ⬟࡛࠶ࡿ㸬ᅗ 3 ࡟㸪Simulink ࡟࡚సᡂࡋࡓไᚚࣈࣟࢵࢡ⥺ᅗࢆ♧ࡍ㸬単軸ステージを用いたシーケンス・モーション・現代制御の統合アクティブラーニングの試み

56.

need_init ࡟ FALSE ࢆ௦ධࡍࡿ㸬

7.

5 ⾜┠࡜ྠᵝ࡛࠶ࡿ㸬ࡓࡔࡋ㸪ssMethodType ࡢ್ 1ࡣ㸪ึᮇฎ⌮ᚋࡢ 2 ᅇ┠௨㝆ࡢฎ⌮ࢆࡇࡇ࡛⾜࠺ࡇ࡜ࢆព࿡ࡍࡿ㸬8.

Smv_Ex ࡟ TRUE ࢆ௦ධࡍࡿ㸬

9.

Velocity = Velocity  kd ࢆィ⟬ࡍࡿ㸬

10. SW3 ࡀ ON ࡛࠿ࡘ㸪Smv_Ex ࡀ ON ࡋࡓ▐㛫࡟
MC_SyncMoveVelocity ࢆ㉳ືࡋ㸪Velocity ࢆ┠ᶆ್
࡜ࡍࡿ㏿ᗘไᚚࢆ⾜࠺㸬
11. SW2 ࡲࡓࡣ SW3 ࡀ OFF ࡟࡞ࡗࡓ㸦᥋Ⅼࡀ❧ࡕୗᅗ 3 ไᚚ⏝ Simulink ࣈࣟࢵࢡ⥺ᅗࡀࡗࡓ㸧࡜ࡁ㸪࣮ࣔࢱࢆ೵Ṇࡍࡿ㸬

ᅗ 3 ୖഃࡢ㸪㛗᪉ᙧ࡟㑅ᢥࡋࡓ㒊ศࡀไᚚჾ࡛࠶ࡿ㸬᣺Ꮚࡢ┠ᶆゅᗘࢆṇ᪉ᙧࡢᐃᩘࣈࣟࢵࢡ࡟࡚ࢮࣟ࡜タᐃࡋ㸪ไᚚᑐ㇟࠿ࡽࡢಙྕ࡜ࡢᕪศࢆ㸪୕ゅᙧࡢ஌⟬ჾ࡟୚࠼ࡿᵓ㐀࡛࠶ࡿ㸬ࡇࡢ㒊ศࢆࢧࣈࢩࢫࢸ࣒໬ࡋࡓࡶࡢࢆ㸪ᅗ 3 ࡢୗഃ࡟♧ࡍ㸬◚⥺㒊ࡀࢧࣈࢩࢫࢸ࣒໬ࡉࢀࡓ㒊ศ࡛࠶ࡾ㸪ᅗ࡟ࡣ⾲♧ࡉࢀ࡚࠸࡞࠸ࡀ Subsystem1 ࡜࠸࠺ࢹࣇ࢛ࣝࢺࡢྡ⛠ࡀ௜ࡅࡽࢀ࡚࠸ࡿ㸬ࡇࡢࢧࣈࢩࢫࢸ࣒ࢆ㸪Simulink PLC Coder®
ࢆ⏝࠸࡚ࢥ࣮ࢻኚ᥮ࡋ㸪Sysmac Studio ࡟࡚ FB ࡜ࡋ࡚౑⏝ࡍࡿ㸬ࢸ࢟ࢫࢺ࠿ࡽᘬ⏝ࡋࡓไᚚ⏝ࣛࢲ࣮ࣉࣟࢢ࣒ࣛࢆᅗ 4࡟♧ࡍ㸬ᅗ୰ࡢ 5 ⾜࠾ࡼࡧ 7 ⾜┠࡟࠶ࡿ Subsystem1 ࡀ㸪ࢥ࣮ࢻኚ᥮ࡋ࡚ᚓࡽࢀࡓ FB ࡛࠶ࡾ㸪Simulink ࡛ࡢྡ⛠࡜ྠ୍ࡢ FB ྡࡀ௜ࡅࡽࢀࡿ㸬᣺Ꮚࡢゅᗘ angle ࢆධຊࡋ㸪ྎ㌴ࡢ
㏿ᗘ Velocity ࢆฟຊࡍࡿ㸬5 ⾜┠ࡢ FB ࡣ㸪ࣛࢲ࣮ࡀ㛤ጞࡉࢀࡓ┤ᚋ࡟㸪ึᮇ್ࢆィ⟬ࡍࡿࡓࡵ࡟ 1 ᅇࡢࡳᐇ⾜ࡉࢀ㸪ࡑࢀ௨㝆ࡣ 7 ⾜┠ࡢ FB ࡀᐇ⾜ࡉࢀࡿࡼ࠺㸪ࣛࢲ࣮ࣉࣟࢢ࣒ࣛࡀ⤌ࡲࢀ࡚࠸ࡿ㸬௨ୗ㸪ࣛࢲ࣮ࣉࣟࢢ࣒ࣛࡢゎㄝࡢ㸪ࢸ࢟ࢫࢺ࠿ࡽࡢᘬ⏝࡛࠶ࡿ㸬
0.

SW1 ࡀ ON ࡍࡿ࡜㸪ࢧ࣮࣎ ON ࡋ࡚ GRN ࡀⅬⅉࡍࡿ㸬

1.

GRN ࡀⅬⅉ୰࡟ SW2 ࡀ ON ࡍࡿ࡜㸪
ཎⅬ᚟ᖐࡍࡿ㸬2.

᣺Ꮚࡢゅᗘ MC_Axis001.Act.Pos ࠾ࡼࡧゅ㏿ᗘ
MC_Axis001.Act.Vel ࢆࡑࢀࡒࢀ㸪angle㸪ang_vel ࡟௦ධࡍࡿ㸬ᅗ 4 ไᚚ⏝ࣛࢲ࣮ࣉࣟࢢ࣒ࣛ䠒䠊ไᚚᐇ㦂⤖ᯝ䠄ᶍ⠊౛䠅3.

SW3 ࡀ OFF ࡢሙྜ㸪Velocity ࡟ 0.0㸪Smv_Ex ࡟ᅗ 5 ࡟㸪๓㏙ࡋࡓไᚚჾࢆ⏝࠸ࡓ㸪᣺Ꮚࡢไ᣺ᐇ㦂⤖ᯝࡢ

FALSE㸪need_init ࡟ TRUE ࢆࡑࢀࡒࢀ௦ධࡍࡿ㸬ᶍ⠊౛ࢆ♧ࡍ㸬㖄┤ୗ᪉ྥ࡟ࡪࡽୗࡀࡗࡓゅᗘࢆ㸮ᗘ࡜ࡋ࡚4.

need_init ࡀ OFF (FALSE) ࡢሙྜ㸪end_init ࡟ࢪࣕ࠸ࡿ㸬ࡲࡎ㸪ไᚚຠᯝࢆ☜ㄆࡍࡿࡓࡵࡢẚ㍑⏝࡜ࡋ࡚㸪ึᮇࣥࣉࡍࡿ㸬ゅᗘࢆ⣙ 30 ᗘ࡜ࡋ࡚⮬⏤᣺ືࡉࡏࡓ㝿ࡢࢹ࣮ࢱࢆྲྀࡗࡓ㸬ゅᗘ angle ࢆ⏝࠸࡚㸪ไᚚჾ Subsystem1 ࡟ࡼࡾไゅᗘಙྕࢆ㟷㸦⣽⥺㸧㸪ྎ㌴ࡢ఩⨨ࢆⲔ㸦ኴ⥺㸧࡛♧ࡍ㸬ῶ⾶ᚚධຊ Velocity ࢆィ⟬ࡍࡿ㸬࡞࠾㸪ssMethodTypeࡋ࡚㟼Ṇࡍࡿࡲ࡛࡟㸪࠾ࡼࡑ 7 ⛊࠿࠿ࡗ࡚࠸ࡿ㸬⥆࠸࡚෌ᗘ㸪ࡢ್ 0 ࡣ㸪ไᚚჾࡢึᮇฎ⌮ࢆព࿡ࡋ㸪ࣉࣟࢢ࣒ࣛ

᣺Ꮚࢆึᮇゅᗘ 30 ᗘࡲ࡛ᘬࡁୖࡆ㸪ゅᗘಙྕࢆࣇ࢕࣮ࢻࣂ

ࡀ㛤ጞࡉࢀࡓ᭱ึࡢ 1 ᅇࡢࡳᐇ⾜ࡍࡿ㸬ࢵࢡࡋ࡚ไᚚࢆ⾜ࡗࡓ㸬ᅗ 5 (a) ࠾ࡼࡧ (b) ࡣࡑࢀࡒࢀ㸪ᅗ

5.

6

沼津工業高等専門学校研究報告

第 54 号

3 ࠾ࡼࡧᅗ 4 ࡢࣇ࢕࣮ࢻࣂࢵࢡࢤ࢖ࣥ kd ࢆ㸪㸯࠾ࡼࡧ 5 ࡜ࡋࡓ࡜ࡁࡢ⤖ᯝ࡛࠶ࡿ㸬(a) ࡟ẚ࡭࡚ (b)ࡣไ᣺ຠᯝࡀ኱ࡁࡃ㸪▷᫬㛫࡛᣺Ꮚࡀ㟼Ṇࡋ࡚࠸ࡿࡇ࡜ࡀ☜ㄆ࡛ࡁࡿ㸬ࡋ࠿ࡋ㸪ゅᗘࡢࡳࣇ࢕࣮ࢻࣂࢵࢡࡋࡓ⤖ᯝ㸪(b) ࡣྎ㌴ࡢ㏿ᗘࡀࢮࣟ࡟
࡞ࡽࡎ㸪ືࡁ⥆ࡅࡿ⤖ᯝ࡜࡞ࡿ㸬ࡇࡇ࡛Ꮫ⏕ࡣ㸪୍ධຊ୍ฟຊࡋ࠿ᢅ࠼࡞࠸ྂ඾ไᚚࡢ㝈⏺ࢆయ㦂ࡍࡿࡇ࡜࡜࡞ࡿ㸬ḟ࡟㸪᣺Ꮚࡢゅᗘ࠾ࡼࡧྎ㌴ࡢ఩⨨ࡢ 2 ࡘࡢ≀⌮㔞ࢆ㸪ྠ᫬࡟ࢮࣟ࡟཰᮰ࡉࡏࡿࡓࡵ࡟㸪LQR (Linear Quadratic(a) kd = 1Regulator㸸᭱㐺ࣞࢠ࣮ࣗࣞࢱ) ࢆ⏝࠸࡚ไᚚ⣔ࡢタィࢆ⾜ࡗࡓ㸬ࡑࡢ㝿㸪᣺Ꮚࡢゅᗘ࠾ࡼࡧゅ㏿ᗘ㸪ྎ㌴ࡢ఩⨨࠾ࡼࡧ㏿ᗘࡢ㸪4 ࡘࡢ≀⌮㔞ࢆ≧ែ㔞࡜ࡋ࡚࠾ࡾ㸪ࡑࢀࡽࡣࡍ࡭࡚ࢭ
ࣥࢧฟຊಙྕ࡜ࡋ࡚ᐇ ್ࢆྲྀᚓ࡛ࡁࡿ㸬ࡋࡓࡀࡗ࡚㸪≧ែ㔞ࢆ᥎ᐃࡍࡿࡓࡵࡢ࢜ࣈࢨ࣮ࣂࡣ౑⏝ࡏࡎ㸪ᐇ ್ࢆ⏝࠸ࡓ≧ែࣇ࢕࣮ࢻࣂࢵࢡไᚚࢆ⾜ࡗࡓ㸬ᅗ 5 ࡜ྠᵝࡢᐇ㦂ࢆ⾜ࡗࡓ⤖ᯝࢆ㸪ᅗ 6 ࡟♧ࡍ㸬᣺Ꮚࡢゅᗘ࠾ࡼࡧྎ㌴఩⨨ࡀඹ࡟ࢮࣟ࡟ 2 ⛊⛬ᗘ࡛཰᮰ࡋ࡚࠸ࡿࡇ࡜ࡀศ࠿ࡿ㸬᭱ᚋ࡟㸪ಽ❧᣺Ꮚࡢไᚚᐇ㦂⤖ᯝࡢ౛ࢆᅗ 7 ࡟♧ࡍ㸬ไᚚ
๎ࡣᅗ 6 ࡢไ᣺࡜ྠᵝࡢ LQR ࡛࠶ࡿ[5]㸬᣺Ꮚࡢᅇ㌿㍈࡟⏕ࡌࡿᦶ᧿ࡢᙳ㡪ࢆཷࡅ࡚㸪ྎ㌴ࡀᕥྑ࡟⣙ 30mm ᦂࢀࡿࡀ㸪(b) kd = 5ᅗ 5 D ไᚚ࡟ࡼࡿ᣺Ꮚࡢไ᣺ᐇ㦂⤖ᯝᏳᐃࡋࡓಽ❧ไᚚࡀ⥔ᣢ࡛ࡁ࡚࠸ࡿࡇ࡜ࡀศ࠿ࡿ㸬䠓䠊⮬୺Ꮫ⩦䛾䛯䜑䛾ㄢ㢟ࢸ࢟ࢫࢺ࡟ࡋࡓࡀࡗ࡚⮬୺Ꮫ⩦ࢆ㐍ࡵࡿ࡟㝿ࡋ㸪ࡑࡢືᶵ௜ࡅ࡜ࡋ࡚ྛ❶࡟ၥ㢟ࢆ‽ഛࡋࡓ㸬ၥ㢟ࡣྜィ 8 㢟࠶ࡾ㸪᭱⤊❶ࡢၥ㢟ࡣ๓ 6 ❶࡛♧ࡋࡓ㸪᣺Ꮚࡢไ᣺࠾ࡼࡧಽ❧ไᚚ࡛࠶ࡿ㸬ࡑࢀࡽࢆᤵᴗࡢෑ㢌࡛Ꮫ⏕࡟ㄝ᫂ࡋ㸪Ꮫ⏕㐩ࡣࡑࡢࢦ࣮ࣝࢆ┠ᣦࡋ࡚㸪࿘㎶ᶵჾࡢ౑࠸᪉ࡸࣉࣟࢢ࣑ࣛࣥࢢᡭἲࢆ㸪ࢸ࢟ࢫࢺࡸ࣐ࢽࣗ࢔ࣝࢆ⏝࠸࡚୺యⓗ࡟Ꮫࡪ㸪࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢᙧᘧ࡛ᤵᴗࢆᐇ᪋ࡋࡓ㸬௨ୗ࡟㸪Ꮫ⏕࠿ࡽ᭱ࡶ㉁ၥ
ࡢከ࠿ࡗࡓၥ㢟ࡢ౛ࢆ♧ࡍ㸬ᅗ 6 LQR ࡟ࡼࡿ᣺Ꮚࡢไ᣺ᐇ㦂⤖ᯝ⦎⩦ၥ㢟շ㸸㸴㸫㸳࡛సᡂࡋࡓࣉࣟࢢ࣒࡛ࣛࡣ㸪ࣇ࢕࣮ࢻࣂࢵࢡࢤ࢖ࣥ kd ࢆ࢖ࣥࣛ࢖ࣥ ST ࡟࡚⏝࠸㸪 Velocity ࡟஌ࡌ࡚࠸ࡲࡋࡓ㸬ࡑࡢ࢖ࣥࣛ࢖ࣥ ST ࡢ⾜ࢆᾘཤࡋ㸪௦ࢃࡾ࡟㸪
Simulink ࣈࣟࢵࢡ࠿ࡽࢥ࣮ࢻኚ᥮ࡋ࡚ సᡂ ࡍࡿ FB ࡟㸪ࡶ࠺୍ࡘࡢධຊ➃Ꮚࠕ kdࠖࢆタࡅ㸪ࡑࡢ kd ࡀࣇ࢕࣮ࢻࣂࢵࢡࢤ࢖ࣥ࡜ࡋ࡚స⏝ࡍࡿࡼ࠺ᨵⰋࡋࡲࡋࡻ࠺㸬ࡑࡢ㝿㸪kd ࢆ⾲♧ჾ࠿ࡽ୚࠼ࡽࢀࡿࡼ࠺࡟ࡋࡲࡋࡻ࠺㸬ࡇࡢㄢ㢟ࢆ㐩ᡂࡍࡿ࡟ࡣࡲࡎ㸪ᅗ 3 ࡟♧ࡍ Simulink ࡢไᚚࣈࣟࢵࢡ࡟࠾࠸࡚㸪ࢥ࣮ࢻኚ᥮ࡍࡿไᚚჾ Subsystem1 ࡢෆ㒊ࢆᅗ 8(a)ࡢࡼ࠺࡟ಟṇࡍࡿ㸬ࡇࡢ࡜ࡁ Subsystem1 ࡣ㸪ᅗ 8(b)࡟♧ࡍࡼ࠺࡟ධຊ➃Ꮚࡀቑ࠼㸪kd ࢆእ㒊࠿ࡽ୚࠼ࡽࢀ

ᅗ 7 ಽ❧᣺Ꮚࡢᐇ㦂⤖ᯝࡿࡼ࠺࡟࡞ࡿ㸬ࡇࡢࢧࣈࢩࢫࢸ࣒ࢆࢥ࣮ࢻኚ᥮ࡍࡿ࡜㸪ᅗ 8(c)ࡢࡼ࠺࡟㸪FB ࡢධຊ࡜ࡋ࡚ kd ࡀタᐃ࡛ࡁࡿࡼ࠺࡟ኚ໬ࡍࡿ㸬ࡇࡇ࡛ Kd ࡀ㉥Ⰽ࡟࡞ࡗ࡚࠸ࡿࡢࡣ㸪ࢢ࣮ࣟࣂࣝኚᩘ࡛

単軸ステージを用いたシーケンス・モーション・現代制御の統合アクティブラーニングの試み

7(a) Subsystem1 ෆ㒊(a) Subsystem1 እ㒊(c) ࣛࢲ࣮ࣉࣟࢢ࣒ࣛ࡟࠾ࡅࡿ FB
ᅗ 8 ⦎⩦ၥ㢟շ࡟࠾ࡅࡿ Subsystem1 ࡢಟṇ౛

ᅗ 10 ᤵᴗࡢᵝᏊᅗ 9 ⾲♧ჾ⏬㠃సᡂ౛࠶ࡿࡇ࡜ࢆព࿡ࡍࡿ㸬ࡇࡢ kd ࢆ㸪⾲♧ჾ࠿ࡽ୚࠼ࡽࢀࡿࡼᏛ⏕ࡀ⌧ࢀࡓ㸬ືᶵ௜ࡅࡀලయⓗ࡛࠶ࢀࡤ㸪Ꮫ⩦ពḧࡣ⮬↛࡟⏕ࡲࢀࡿࡇ࡜ࡀឤࡌࡽࢀࡿᤵᴗ࡜࡞ࡗࡓ㸬䠕䠊ᐇ᪋⤖ᯝ䛚䜘䜃ホ౯࠺࡟ࡋࡓ౛ࢆ㸪ᅗ 9 ࡟♧ࡍ㸬࡞࠾㸪SW1㹼3 ࡣ࢜ࣝࢱࢿ࣮ࢺ
ࢫ࢖ࢵࢳ㸪Green ࡜ Red ࡣࣅࢵࢺࣛࣥࣉ࡛࠶ࡾ㸪Position㸪
Velocity ࡣ࣮ࣔࢩࣙࣥ⏝ FB ࡬ࡢᣦ௧್ධຊ㸪Angle ࡣ᣺Ꮚᮏᤵᴗࡣ㑅ᢥ⛉┠࡛࠶ࡾ㸪ᶵᲔᕤᏛ⛉ 5 ᖺ⏕ 39 ྡࡢᏛ⏕ࡢ࠺ࡕ㸪22 ྡࡀཷㅮࡋࡓ㸬ᥦฟࡉࢀࡓㄢ㢟ࡸᮇᮎヨ㦂ࡢ⤖ᯝࡼࡾ㸪19 ྡࡀᤵᴗ┠ᶆࡢ 7 ๭ࢆ㐩ᡂࡋ㸪ࡑࡢ࠺ࡕ 7 ྡࡀ࡯ࡰゅࡢࣔࢽࢱ⏝࡛࠶ࡿ㸬ࡇࢀࡽࡣ㸪⦎⩦ၥ㢟նࡲ࡛ࡢᐇ᪋࡟࠾

10 ๭࡟㏆࠸㐩ᡂ⋡࡛࠶ࡗࡓ㸬௨ୗ㸪ᤵᴗᚋ࡟Ꮫ⏕࡟᭩࠿ࡏࡓ㸪࠸࡚సᡂࡍࡿ㸬ᤵᴗࡢⰋ࠸Ⅼ㸪ᝏ࠸Ⅼࡢ୺࡞ࡶࡢࢆᣲࡆࡿ㸬䠔䠊ᤵᴗෆᐜ䛚䜘䜃ᐇ᪋䛾ᵝᏊⰋ࠸Ⅼ㸸2019 ᖺᗘࡢ๓ᮇ࡟㸪15 ᅇࡢᤵᴗࢆᐇ᪋ࡋࡓ㸬ᩍဨ࠿ࡽࡢㅮ⩏ᙧᘧࡢㄝ᫂ࡣ᭱ึࡢ 2 ᅇศࡢࡳ࡛࠶ࡾ㸪ཎ๎㸪ᤵᴗ୰ࡣᏛ⏕ࡀ㈨ᩱࢆぢ࡞ࡀࡽ㸪⌜ࡈ࡜࡟ࡑࢀࡒࢀࡢ࣮࣌ࢫ࡛ᐇ᪋ࡍᏛ⏕ࡀཷࡅ㌟࡟࡞ࡽࡎ㸪⮬ࡽᏛࢇ࡛࠸ࡿ㸬ࢳ࣮࣒ෆ࡛ヨ⾜㘒ㄗࡋ㸪ᛮࡗࡓ࡜࠾ࡾ࡟ືࡃ࡜㠀ᖖ࡟኱ࡁ࡞㐩ᡂឤࡀᚓࡽࢀࡓ㸬ࡿᙧែ࡜ࡋࡓ㸬ᩍဨࡣྠᐊ࡛ᚅᶵࡋ㸪Ꮫ⏕ࡢ㉁ၥࡸࢺࣛࣈࣝ
࡟㐺ᐅᑐᛂࡋࡓ㸬ከࡃࡢ⌜ࡀඹ㏻ࡋ࡚⮬ຊ࡛ゎỴ࡛ࡁ࡞࠸஦Ꮫࡪࡇ࡜ࡀ࡛ࡁࡓ㸬㡯࡟ࡘ࠸࡚ࡣ㸪඲య࡟ゎㄝࡍࡿ᫬㛫ࡶタࡅࡓ㸬ᅗ 10 ࡟㸪ᤵᴗ୰ࡢࢢ࣮ࣝࣉ࣮࣡ࢡࡢᵝᏊࢆ♧ࡍ㸬᭱ึࡣ⮬୺ⓗ࡟Ꮫࢫࢱ࢖࡛ࣝ࠶ࡗࡓࡇ࡜࡛㸪ᴦࡋࡃᏛ࡭㸪ぬ࠼ࡸࡍ࠿ࡗࡓ㸬ࡓ㸪ಽ❧᣺Ꮚࡢไᚚ࡟ᚲせ࡞⌧௦ไᚚ⌮ㄽࡣ㸪ㅮ⩏࡛ࡣ඲ࡃᢅࡗ࡚࠸࡞࠸ࡀ㸪ᐇ㦂ࢆ⾜࠺㝿㸪ᩍဨ࡟⇕ᚰ࡟㉁ၥࡋ࡚ࡃࡿ

⮬ศࡢ࣮࣌ࢫ࡛㐍ࡵࡽࢀࡿࡢ࡛㸪ศ࠿ࡽ࡞࠸࡜ࡇࢁࢆ㸪ࡌࡗࡃࡾ᫬㛫ࢆ࠿ࡅ࡚⌮ゎ࡛ࡁࡿ㸬ࢢ࣮ࣝࣉෆ࡛ᐇ᪋ࡋ࡚࠸ࡓࡀ㸪ᚋ༙࡟࡞ࡿ࡟ࡘࢀ࡚㸪ࢢ࣮ࣝࣉࢆ㉸࠼࡚┦ㄯࡋࡓࡾຓࡅྜࡗࡓࡾࡍࡿᵝᏊࡀぢࡽࢀࡓ㸬ࡲࢳ࣮࣒࡜༠ຊࡍࡿ୰࡛㸪⮬ศ࡛ࡣᛮ࠸ࡘ࠿࡞࠸⪃࠼᪉ࢆ᪂ࡋ࠸▱㆑ࢆ㸪⮬ศ࡛⪃࠼࡞ࡀࡽ㌟࡟௜ࡅࡿࡇ࡜ࡀ࡛ࡁ㸪࡛ࡁࡿࡇ࡜ࡀᗈࡀࡗࡓࡢࡀᎰࡋ࠿ࡗࡓ㸬ศ࠿ࡽ࡞࠸࡜ࡁ࡟ࡣ㸪௚ࡢࢳ࣮࣒࡜ࡢ༠ຊࡀ࡛ࡁࡓ㸬

8

沼津工業高等専門学校研究報告

㈨ᩱࢆ⮬ศ࡛ㄪ࡭㸪⮬ศࡓࡕ࡛ᕤኵࡍࡿࡇ࡜ࡀ࡛ࡁࡓ㸬ࢥ࣑ࣗࢽࢣ࣮ࢩࣙࣥ⬟ຊࡢྥୖࡀᐇឤ࡛ࡁࡓ㸬ᐇ㦂ⓗ࡞ෆᐜࢆ㸪ࢳ࣮࣒ࡢே࡜༠ຊࡋ࡚㐍ࡵ࡚࠸ࡃࡢࡣ

第 54 号䠍䠌䠊⤖ゝ
2019 ᖺᗘࡢ๓ᮇ㸪ᶵᲔᕤᏛ⛉㸳ᖺ⏕ࢆᑐ㇟࡟㸪PLC ࡜⾲ᴦࡋ࠿ࡗࡓ㸬♧ჾ㸪࠾ࡼࡧ AC ࢧ࣮࣎࡟ࡼࡾ㥑ືࡍࡿ༢㍈ࢫࢸ࣮ࢪ࡜᣺Ꮚᑗ᮶㸪⏕⏘ᢏ⾡㛵㐃ࡢ௙஦࡟ᦠࢃࡿ࡜ᛮ࠺ࡢ࡛㸪࡜࡚ࡶཧࢆ⏝࠸࡚㸪ไ᣺ไᚚࡢᐇ⿦ࢆ㢟ᮦ࡟࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢᙧ⪃࡟࡞ࡗࡓ㸬ᘧࡢᤵᴗࢆᐇ᪋ࡋࡓ㸬㸯ࢳ࣮࣒㸰㹼㸱ேᵓᡂ࡜ࡋ㸪ࢢ࣮ࣝࣉពḧࡀ࡞ࡅࢀࡤ┠ⓗࡣ㐩ᡂ࡛ࡁ࡞࠸㸪࡜࠸࠺ࡇ࡜ࢆ③ឤ࣮࣡ࢡ࡟ࡼࡿㄢ㢟ゎỴࢆ┠ᣦࡋࡓ㸬ࡑࡢ⤖ᯝ㸪᣺Ꮚࡢไ᣺ࡣ࡛ࡁࡓ㸬⮬Ꮫ⮬⩦ࡢ኱ษࡉࡀศ࠿ࡗࡓ㸬඲ࢳ࣮࣒㸪ಽ❧ไᚚࡣ㸱ࢳ࣮࣒ࡀᡂຌࡋࡓ㸬Ꮫ⏕࠿ࡽࡣ㸪୺┠ࡢ๓࡛≀ࡀືࡃࡢ࡛㸪ᗙᏛࡼࡾ⌮ゎࡋࡸࡍ࠿ࡗࡓ㸬యⓗ࡟Ꮫࡪࡢ࡛▱㆑ࡀᐃ╔ࡋ㸪ᴦࡋ࠸࡜ࡢឤ᝿ࡀᐤࡏࡽࢀࡓ㸬⮬⏤࡞㞺ᅖẼࡢᤵᴗ࡛㸪ඛ⏕࡟㉁ၥࡋࡸࡍ࠿ࡗࡓ㸬ḟᖺᗘࡣ㸪Ꮫ⏕࠿ࡽࡢࠕᝏ࠸Ⅼࠖࢆ࡛ࡁࡿ㝈ࡾᨵၿࡍࡿ㸬ලࡘࡲࡎ࠸ࡓ࡜ࡁࡢヨ⾜㘒ㄗ࡞࡝ࢆ㏻ࡌ࡚㸪ၥ㢟ゎỴ⬟ຊయⓗ࡟ࡣ㸪ከࡃࡀ㐍ᤖ࡟㛵ࡍࡿពぢ࡛࠶ࡿࡢ࡛㸪ẖ㐌ᐇ᪋ෆࡀ㣴ࢃࢀࡓ㸬ᐜࢆࡲ࡜ࡵࡓ᪥ㄅࢆᥦฟࡉࡏ㸪ࡑࡢෆᐜࢆᩍဨࡀ☜ㄆࡋ㸪⩣ඛ⏕࡟㢗ࡽࡎ⮬ຊ࡛ゎỴࡍࡿࡇ࡜ࡶከࡃ࠶ࡾ㸪⮬ಙ࡟࡞㐌࡟㐍ᤖࡢ㐜ࢀ࡚࠸ࡿ⌜ࢆ㔜Ⅼⓗ࡟ࢧ࣏࣮ࢺࡍࡿ㸬ࡲࡓ㸪ࡑࡗࡓ㸬ࢀࡒࢀࡢไᚚᶵჾࡢタᐃࡸ᧯సࡢព࿡ࢆࢸ࢟ࢫࢺ࡟ຍ࠼㸪⋓ไᚚࡢᩍ⛉᭩࡟ࡣ㍕ࡗ࡚࠸࡞࠸ࡼ࠺࡞㸪ᐇົⓗ࡞ࡇ࡜ࡀᚓࡋࡓ▱㆑ࡢᛂ⏝ᛶࢆྥୖࡉࡏࡓෆᐜ࡟ᨵၿࡍࡿ㸬ࡉࡽ࡟㸪Ꮫ࡭ࡓ㸬Ꮫ⏕ࡀᏛ⩦ព⩏ࢆࡼࡾලయⓗ࡟ᣢ࡚ࡿࡼ࠺࡟㸪ኳ஭㉮⾜ࢡࣞࢳ࣮࣒࡛ࢫࢣࢪ࣮ࣗࣜࣥࢢࡋ࡚㐍ࡵࡿࡇ࡜ࡀ࡛ࡁ㸪ィ⏬

࣮ࣥ࡬ࡢᢏ⾡࡜ࡋ࡚ᛂ⏝࡛ࡁࡿ㸪ᦙ㏦ไᚚࡢᐇ⿦ࢆ᪂ࡓ࡟ຍ

ࡢ኱ษࡉࡀࢃ࠿ࡗࡓ㸬࠼ࡿࡇ࡜ࢆ⪃࠼࡚࠸ࡿ㸬ᝏ࠸Ⅼ㸸ཧ⪃ᩥ⊩㻌[1]Ꮫ⏕ᩘ࡟ᑐࡍࡿᣦᑟ⪅ࡀ୙㊊ࡋ࡚࠾ࡾ㸪Ꮫ⏕ࡢ㉁ၥ࡟㎿୕㇂㸪㇂ᇣ㸪ᓊ㸪す㸪࣒࢜ࣟࣥᰴᘧ఍♫࡛ࡢᩍဨ◊ಟ࡟㏿࡟ᑐᛂ࡛ࡁ࡚࠸࡞࠸㸬࠾ࡅࡿ PLC ࢆά⏝ࡋࡓไᚚᶵᮦ㛤Ⓨ㸪἟ὠᕤᴗ㧗➼ᑓ

㏵୰࡛ࡘࡲࡎࡃ࡜㸪㐍ࡲ࡞ࡃ࡞ࡿ㸬㛛Ꮫᰯ◊✲ሗ࿌ ➨ 49 ྕ㸪pp.1-6㸪
㸦2015㸧

ㄢ㢟ࢆ㸪⮬Ꮿ࡛㐍ࡵࡿࡇ࡜ࡀ࡛ࡁ࡞࠸㸬᫬㛫୙㊊࡛㸪ㄢ㢟ࡀ᭱ᚋࡲ࡛⤊ࢃࡽ࡞࠿ࡗࡓ㸬࡟ࡼࡿ PBL ᆺḟୡ௦ᢏ⾡⪅㣴ᡂࣉࣟࢪ࢙ࢡࢺ㸪බ┈♫ㄢ㢟ࡀ㐩ᡂ࡛ࡁࡎ㸪≀㊊ࡾ࡞ࡉࡀṧࡗࡓ㸬ᅋἲே᪥ᮏタィᕤᏛ఍ Ꮫ఍ㄅࠕタィᕤᏛࠖVol. 51㸪

ࢳ࣮࣒ࡢ୰࡟ඃ⚽࡞ேࡀ࠸ࡿ࡜㸪ࡑࡢே࡟㢗ࡗ࡚ࡤ࠿ࡾ

No.10㸪pp.737-746㸪
㸦2016㸧

࡟࡞ࡿ㸬

[2][3]୕㇂㸪㇂ᇣ㸪ᇼ㸪㔠⏣㸪㧗㞴᫆ᗘ࡞⏕⏘ᢏ⾡ࢥࣥࢸࢫࢺ

Y.Mitani,

H.Tanino, Y.Kami,

T.Kojima,

T.Sato,ࢳ࣮࣒ࡢ୰࡟㸪Ꮫ⩦ࡢᕪࡀฟࡓ㸬

Y.Iwano, Educational Training Program for theࢳ࣮࣒ࡢ୰࡟ᙺ๭ศᢸࡀ࠶ࡿ࡜㸪ㄡ࠿ࡀఇࢇࡔ࡜ࡁ࡟㐍Manufacturing Control System Using the New Typeࡲ࡞ࡃ࡞ࡿ㸬of Programmable Logic Controller Sysmac NJ㸪Theࢸ࢟ࢫࢺࡀ࣐ࢽࣗ࢔ࣝࡢࡼ࠺࡟࡞ࡗ࡚࠸ࡿࡢ࡛㸪ࡑࡢస

9th International Symposium on Advances inᴗࡀఱࢆព࿡ࡍࡿࡢ࠿㸪⌮ゎ࡛ࡁ࡚࠸࡞࠸ࡇ࡜ࡀ࠶ࡗࡓ㸬Technology Education㸪㸦2015㸧



[4]

PLCopen for efficiency in automationᇶ♏ⓗ࡞ไᚚࡢෆᐜࡀศ࠿ࡗ࡚࠸࡞࠸⪅࡟ࡣᑡࡋ㎞࠸㸬ࣉࣟࢢ࣒ࣛ౛ࡀ㍕ࡗ࡚࠸ࡓࡀ㸪⌮ゎࡀ㏣࠸ࡘ࠸࡚࠸࡞࠸

https://www.plcopen-japan.jp/ 2019 ᖺ 10 ᭶ 21 ᪥ཧ࡜୸෗ࡋ࡟࡞ࡾ㸪༑ศ㌟࡟௜࠿࡞࠸㸬↷[5]୕㇂㸪బ⸨㸪㇂ᇣ㸪ḟୡ௦ PLC ࡢ᪂ࡓ࡞ά⏝᪉ἲࢆᏛࢳ࣮࣒ࡢ⬟ຊ➼࡟ࡼࡗ࡚㸪㐍ᤖᗘࡀ኱ࡁࡃ㐪ࡗ࡚࠸ࡓ㸬㹏㸤㸿ࢆඹ᭷࡛ࡁࡿ⎔ቃࡀ࠶ࡿ࡜Ⰻ࠿ࡗࡓ㸬⩦ࡍࡿࡓࡵࡢྍᦙᛶࢆ᭷ࡍࡿಽ❧᣺Ꮚไᚚ⿦⨨ࡢ㛤Ⓨ㸪ཧ⪃࡟࡞ࡿᩍ⛉᭩ࡀḧࡋ࠸㸬බ┈♫ᅋἲே᪥ᮏタィᕤᏛ఍ Ꮫ఍ㄅࠕタィᕤᏛࠖ㸪㡹ᙇࡗ࡚ࡶ࡛ࡁ࡞࠸࡜ࡁ㸪࠶ࡁࡽࡵࡓࡃ࡞ࡿ㸬

Vol.50㸪No.12㸪pp.662-667㸪
㸦2015㸧ㅖタᐃࡀ㛫㐪ࡗ࡚࠸࡚ࡘࡲࡎࡃࡢࡣ㸪ࡶࡗࡓ࠸࡞࠸Ẽࡀࡍࡿ㸬1 ᅇᤵᴗࢆఇࡴ࡜㸪ࢳ࣮࣒ࡢே࡟ࡘ࠸࡚⾜ࡅ࡞࠸㸬⿦⨨ࡀ 3 ே࡟ 1 ྎ࡞ࡢ࡛㸪ྛ⮬ࡢㄢ㢟ࡀᐇ᪋ࡋ࡙ࡽ࠸㸬