1

沼津工業高等専門学校研究報告
第 52 号，2018 年 1 月

࣐࢖ࢡࣟ 3/& ࢆά⏝ࡋࡓ࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢࡢヨ⾜㸫3,' ไᚚჾࡢᐇ⿦ࢆㄢ㢟࡜ࡍࡿࢩ࣮ࢣࣥࢫ㸭ࣇ࢕࣮ࢻࣂࢵࢡไᚚࡢ⼥ྜ㸫୕㇂♸୍ᮁ 㸪⸨἟ㅬᩯ 㸪す⏤Ꮨኸ Active Learning by Using the Micro Programmable Logic Controller
㸫Integration of Sequence and Feedback Control in the Class of Designand Implementation of PID Control System㸫Yuuichiroh Mitani, Kento Fujinuma, Yukio Nishi
The class of active learning style was conducted in the department of mechanical engineering,
5th grade. The participating students worked on the assignment which is; “Design andimplement a PID controller to the PLC (Programmable Logic Controller) to control the rotational
speed of the DC motor”. The PID controller is widely applied in manufacturing control systems,
and uncountable PLCs are installed for high-efficiency automation. The training of the engineers
who are highly skilled in both the PID controller and PLC is required in a variety of industries.
In this active learning class, the educational tool utilized was the compact learning system ofsequence control. The system was developed only for the learning of the sequence control lastyear. But the PLC installed in the learning system, named CP1E produced by Omron
Corporation, is a kind of a micro PLC which has two attractive functions in addition to theconventional sequence control. One of them is a generation of the PWM (Pulse WidthModulation) waveform, and the other is a high-speed pulse counter. Moreover, the CP1E can beutilized as a PID controller by itself. The combination of these functions makes it possible toapply the system for the rotational speed control of the DC motor. But the PID control functionof the CP1E is originally provided for slow response system such as a thermal control. It meansthat many difficulties would appear in order to implement the PID control system of the DCmotor. This is something that surely does provide a prime opportunity to the participating
students in the class for solving this possibly occurring situation.
Key Words:

Active learning, Programmable logic controller, PID control, DC motor, Sequence control䠍䠊⥴ゝࡸ๰㐀ᛶࢆ⫱ࡴෆᐜࡢ⛣⾜ࡀồࡵࡽࢀࡿ࡜⪃࠼ࡽࢀࡿ㸬ᖹᡂ 29 ᖺᗘ㸪ᶵᲔᕤᏛ⛉ 5 ᖺḟࡢ๓ᮇ⛉┠࡜ࡋ࡚㛤ㅮࡉ㏆ᖺ㸪㧗ᑓᩍဨࢆᑐ㇟࡜ࡍࡿ◊✲㞟఍࡟࠾࠸࡚ࡣ㸪ᚲࡎ࢔ࢀࡓࠕࢩࢫࢸ࣒ไᚚᕤᏛᇶ♏ࠖ࡟࠾࠸࡚㸪࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢ࡟㛵ࡍࡿヰ㢟ࡀྲྀࡾୖࡆࡽࢀ㸪ࡑࡢලయࣥࢢᙧᘧࡢᤵᴗࢆヨࡳࡓ㸬4 ᖺḟࡢ㛤ㅮ⛉┠㸪ࠕไᚚᕤᏛࠖ࡟ⓗ࡞ᐇ㊶౛ࡀᩘከࡃሗ࿌ࡉࢀ࡚࠸ࡿ[1]㸬Ꮫ⏕⮬㌟ࡀ㸪Ꮫ⩦ෆ࡚Ꮫ⩦ࡋࡓ PID ไᚚ⣔ࡢタィࢆ㸪DC ࣮ࣔࢱࡢᅇ㌿㏿ᗘไᚚᐜࡢ᫂☜࡞ព⩏ࢆㄆ㆑ࡋ㸪⮬୺ⓗ࡟Ꮫ⩦ࡍࡿࢫࢱ࢖ࣝࡣ㸪ᩍ࡟㐺⏝ࡋ㸪ࡑࡢไᚚຠᯝࢆ᳨ドࡍࡿ࡜࠸࠺ㄢ㢟ࢆタᐃࡋ࡚㸪⫱ෆᐜ࡟㛵ࡍࡿᏛ⏕┦஫ࡢ༠ຊࡀ⮬↛࡟⏕ࡲࢀ㸪Ꮫ⩦ࡋࡓࡇᐇᶵࢆ⏝࠸࡚⾜ࡗࡓ㸬ࣁ࣮ࢻ࢙࢘࢔࡜ࡋ࡚ࡣ㸪ᖹᡂ 27㹼28 ᖺ࡜ࡢ☜ᐇ࡞⌮ゎ࡜ᐃ╔ࡀᮇᚅ࡛ࡁࡿ࡜࠸࠼ࡿ㸬୍᪉㸪AIᗘ࡟࠿ࡅ࡚㸪Ꮫ⛉ᶓ᩿ᆺ PBL (Problem Based Learning) ไ(Artificial Intelligence) ࡀᛴ㏿࡟⏕άࡸ௙஦࡟฼⏝ࡉࢀࡣࡌᚚᩍ⫱࠾ࡼࡧ㸪୰Ꮫ⏕ᑐ㇟ࡢయ㦂ᤵᴗ⏝࡜ࡋ࡚㛤Ⓨࡋࡓ㸪ᑠࡵࡓ⌧௦♫఍࡟࠾࠸࡚㸪ᩍ⫱ᶵ㛵࡟࠾ࡅࡿᏛ⩦ෆᐜࡣ㸪ゎἲᆺࡢࢩ࣮ࢣࣥࢫไᚚᩍᮦࢆ฼⏝ࡋࡓ[2]㸬ࡑࢀ࡟క࠸ᤵᴗ࡟࠾ࢆࢺ࣮ࣞࢽࣥࢢࡍࡿࡼ࠺࡞グ᠈ࢆ㔜どࡍࡿෆᐜ࠿ࡽ㸪⮬୺ᛶ࠸࡚ࡣ㸪࣒࢜ࣟࣥᰴᘧ఍♫㸦௨ୗ㸪࣒࢜ࣟࣥ࡜⛠ࡍ㸧ࡢ PLC(Programmable Logic Controller) ࣉࣟࢢ࣒ࣛ㛤Ⓨࢯࣇࢺ࢘*1 ᶵᲔᕤᏛ⛉ Department of 0HFKDQLFDO(QJLQHHULQJ࢙࢔ CX-Programmer ࠾ࡼࡧ㸪ࣉࣟࢢ࣐ࣛࣈࣝࢱ࣮࣑ࢼࣝ㸦࢜*2 ࣒࢜ࣟࣥᰴᘧ఍♫ 2PURQ&RUSRUDWLRQ࣒ࣟࣥ NB ࢩ࣮ࣜࢬ㸧⏝ࡢ㛤Ⓨࢶ࣮ࣝ NB-Designer ࢆ⏝࠸

2

沼津工業高等専門学校研究報告

第 52 号ࡓ㸬ࡲࡓ㸪ไᚚࢩࢫࢸ࣒㛤Ⓨ⏝࡜ࡋ࡚㸪Mathworks ࡢ[5 㐌┠]MATLAB®࠾ࡼࡧ Simulink®ࢆ฼⏝ࡋࡓ㸬ࡇࡇ࡛⤂௓ࡍࡿᤵ ࣒࢜ࣟࣥࡢ PLC ⏝ࢯࣇࢺ࢙࢘࢔ CX-Programmer㸪⾲♧ᴗෆᐜࡀ㸪௚Ꮫ⛉ࡸ௚㧗ᑓ࡟ཧ⪃࡟ࡉࢀࡿࡇ࡜ࢆᮇᚅࡍࡿ㸬ჾ⏝ࢯࣇࢺ࢙࢘࢔ NB-Designer㸪MATLAB / Simulink ࡟ࡘ࠸࡚㸪ᩍဨࡀㄝ᫂ࡍࡿ㸬䠎䠊䛂䝅䝇䝔䝮ไᚚᕤᏛᇶ♏䛃䛾ᤵᴗෆᐜ ࣮࢜ࣉࣥࢯ࣮ࢫࡢ e ࣮ࣛࢽࣥࢢࣉࣛࢵࢺࣇ࢛࣮࣒࡛࠶ࡿMoodle ࢆά⏝ࡋ㸪PLC㸪ࢱࢵࢳࣃࢿࣝ㸪MATLAB /ᶵᲔᕤᏛ⛉ 5 ᖺḟࡢ๓ᮇ㑅ᢥ⛉┠ࠕࢩࢫࢸ࣒ไᚚᕤᏛᇶ♏ࠖ

Simulink ࡢᇶ♏ⓗ࡞౑࠸᪉ࡢࡳࢆᥖ㍕ࡋࡓ࣐ࢽࣗ࢔ࣝࢆࢆ㸪௨ୗࡢෆᐜ࡛ᐇ᪋ࡋࡓ㸬࡞࠾㸪ᐇ᪋ෆᐜ࡟࠾ࡅࡿࢹ࢕ࢫᏛ⏕࡟ᥦ♧ࡋ࡚࠸ࡿ㸬Ꮫ⏕ࡣࡑࢀࢆ฼⏝ࡋ㸪ࡑࢀࡒࢀࡢ౑࢝ࢵࢩࣙࣥࡸ᳨ウࡣ㸪ࢢ࣮ࣝࣉ༢఩࡛⾜ࡗࡓ㸬ࡲࡓ㸪ẖ㐌⏝࠸᪉ࡢᇶᮏࢆ⮬୺Ꮫ⩦ࡍࡿ㸬⣬ࢆ㓄௜ࡋ࡚㸪ࡑࡢ᪥ࡢᐇ᪋ෆᐜࢆグ㘓ࡉࡏࡓ㸬ࢹ࢕ࢫ࢝ࢵࢩࣙࣥࢆ⾜ࡗࡓ㐌ࡣ㸪ࢢ࣮ࣝࣉࡈ࡜࡟ࡑࡢෆᐜࢆⓎ⾲ࡉࡏࡓ㸬⏝⣬ࡣࡍ࡭࡚ẖᅇ㸪ᤵᴗࡢෑ㢌࡛Ꮫ⏕࡟㏉༷ࡋ࡚ཧ↷ࡉࡏ㸪[6㹼13 㐌┠] ㄢ㢟㐩ᡂࡢࡓࡵ࡟㸪ࢢ࣮ࣝࣉ࣮࣡ࢡࢆᐇ᪋ࡍࡿ㸬ᤵᴗࡢ᭱ᚋ࡟ᅇ཰ࡋࡓ㸬[14㹼15 㐌┠][1 㐌┠] ⥲ࡲ࡜ࡵ࡜ࡋ࡚㸪ᐇ㦂࣏࣮ࣞࢺࢆసᡂࡍࡿ㸬 ㄢ㢟ࡢᥦ♧㸸ࠕDC ࣮ࣔࢱ࡟࠾ࡅࡿ㏿ᗘไᚚ㸦ᐃ್ไᚚ㸧ࠖᅗ 1 ࡟㸪ᤵᴗ㢼ᬒࢆ♧ࡍ㸬Ꮫ⏕㐩ࡣ㸪ࢢ࣮ࣝࣉ࡟㛵ಀ࡞ࡃࢆ⾜࠺㸬タィ௙ᵝࢆ୚࠼㸪PID ไᚚ⣔ࢆタィࡏࡼ㸬┦஫࡟᝟ሗ஺᥮ࡋ࡞ࡀࡽసᴗࢆ㐍ࡵ࡚࠸ࡓ㸬࡞࠾㸪㏵୰⤒㐣

 3 ே 1 ⤌ࡢࢢ࣮ࣝࣉࢆᏛ⏕࡟సࡽࡏ㸪ㄢ㢟ゎỴ᪉ἲࢆࢹ࢕ࡢ☜ㄆ࠾ࡼࡧ㸪᭱⤊ᡂᯝࡲ࡛ࡢᡭ㡰ࡢ☜ㄆࡢព࿡࡛㸪୰㛫࣭ࢫ࢝ࢵࢩࣙࣥࡍࡿ㸬 ᩍ⛉᭩㸦JSME ࢸ࢟ࢫࢺࢩ࣮ࣜࢬ ไᚚᕤᏛ㸧࡟㸪DC ࣮ࣔࢱࡢࣔࢹࣜࣥࢢ᪉ἲࡀᥖ㍕ࡉࢀ࡚࠸ࡿࡇ࡜ࢆࣄࣥࢺ࡜

ᮇᮎヨ㦂ࢆᐇ᪋ࡋࡓ㸬ヨ㦂࡟ࡣ㸪ẖᅇࡢᤵᴗ࡛సᡂࡋࡓグ㘓ࢆᣢ㎸ࡳྍ⬟࡜ࡋ㸪ヨ㦂ၥ㢟ࡣ㸪ᐇ᪋ෆᐜࡢ⌮ゎᗘࢆ☜ㄆࡍࡿࡶࡢ࡜ࡋࡓ㸬ࡋ࡚ఏ࠼㸪ไᚚᑐ㇟࡜ࡋ࡚ࡢࣔࢹࣝࢆࢢ࣮ࣝࣉෆ᳨࡛ウࡍ
ࡿ[3]㸬
[2 㐌┠]
 DC ࣮ࣔࢱࡢ࢖ࣥࢲࢡࢱࣥࢫࡀᑠࡉ࠸࡜ࡁ㸪DC ࣮ࣔࢱࡢࣔࢹࣝࡣ୍ḟ㐜ࢀせ⣲࡜㏆ఝ࡛ࡁࡿࡇ࡜ࢆ㸪ᩍ⛉᭩ࢆཧ⪃࡟ᩍဨࡀㄝ᫂ࡍࡿ㸬 DC ࣮ࣔࢱࡢࣔࢹࣜࣥࢢ࡟ᚲせ࡞ᐃᩘࢆᥦ♧ࡋ㸪ࡑࡢ ᐃ᪉ἲ࠾ࡼࡧ㸪1 㐌┠࡟᳨ウࡋࡓࣔࢹࣝ࡜ࡢᑐᛂ࡟ࡘ࠸࡚ࢹ
࢕ࢫ࢝ࢵࢩࣙࣥࡍࡿ㸬 タィ௙ᵝ࠾ࡼࡧ PID ไᚚ⣔ࡢタィ᪉ἲࢆࢹ࢕ࢫ࢝ࢵࢩࣙࣥࡍࡿ㸬
[3 㐌┠]
 ไᚚᐇ㦂࡟⏝࠸ࡿࣁ࣮ࢻ࢙࢘࢔ࢆᥦ♧ࡋ㸪ࡑࢀࡒࢀࡢࣁ࣮

Fig.1 Classroom viewࢻ࢙࢘࢔ࡢᴫ␎࠾ࡼࡧ౑࠸᪉࡟ࡘ࠸࡚㸪ᩍဨࡀㄝ᫂ࡍࡿ㸬 DC ࣮ࣔࢱࡢ㏿ᗘไᚚ࡟⏝࠸ࡿ㸪PWM (Pulse WidthModulation) ࠾ࡼࡧ࢚ࣥࢥ࣮ࢲ࡟ࡘ࠸࡚㸪ᩍဨࡀㄝ᫂ࡍࡿ㸬䠏䠊౑⏝䛧䛯ᐇ㦂⿦⨨ᅗ 2 ࡟㸪ᮏᤵᴗ࡛౑⏝ࡋࡓ⿦⨨඲యࢆ㸪ᅗ 3 ࡟㸪౑⏝ࡋࡓ ලయⓗ࡞ᐇ㦂ᡭ㡰ࡸ᪉ἲࢆࢹ࢕ࢫ࢝ࢵࢩࣙࣥࡍࡿ㸬ᅇ㊰ࡢヲ⣽ࢆ♧ࡍ㸬࢚ࣥࢥ࣮ࢲࡢࣃࣝࢫࢆ PLC ࡟࡚ྲྀᚓࡋ㸪[4 㐌┠]PLC ࡀᣢࡘᶵ⬟ࢆ⏝࠸࡚ᅇ㌿ゅ㏿ᗘࢆồࡵ㸪PWM ࡟ࡼࡿ ไᚚ⣔ࡢᏳᐃ⌮ㄽ㸦㛢࣮ࣝࣉ⣔㸪ᴟ㸪࣋ࢡࢺࣝ㌶㊧㸪ࢼ࢖DC ࣮ࣔࢱࡢᅇ㌿㏿ᗘไᚚࢆ⾜࠺㸬ᅇ㊰ୖࡢࢫ࢖ࢵࢳࢆ㸪ࣔ࢟ࢫࢺࡢᏳᐃุูἲ࡞࡝㸧࡟ࡘ࠸࡚㸪ᩍ⛉᭩ࢆཧ⪃࡟ࢢࣝࢹࣜࣥࢢ᫬ࡢ㸪࣮ࣔࢱࡢࢫࢸࢵࣉᛂ⟅ࡢ ᐃ㛤ጞ㸪ไᚚࣃ࣮ࣛࣉෆ࡛᚟⩦࣭ࢹ࢕ࢫ࢝ࢵࢩࣙࣥࡍࡿ㸬࣓࣮ࢱࡢึᮇタᐃ㸪PID ไᚚ㛤ጞ࡞࡝࡟฼⏝ࡋࡓ㸬ࡲࡓ㸪⾲

 DC ࣮ࣔࢱࡢ㸪㏿ᗘไᚚ⣔ࡢタィ࡟ᚲせ࡞Ᏻᐃ⌮ㄽ࡟ࡘ࠸࡚㸪࣏࣮ࣞࢺ࡟ࡲ࡜ࡵࡿ㸬♧ჾࢆ㸪┠ᶆᅇ㌿㏿ᗘࡢタᐃࡸ⌧ᅾࡢᅇ㌿㏿ᗘࡢ⾲♧㸪PIDࣇ࢕࣮ࢻࣂࢵࢡࢤ࢖ࣥࡢ⾲♧ࡸධຊ㸪ᅇ㌿㏿ᗘࡢ᫬㛫ⓗ᥎⛣ࢆ⾲ࡍࢢࣛࣇࡢ⾲♧࡞࡝࡟⏝࠸ࡓ㸬࢚ࣥࢥ࣮ࢲࡢศゎ⬟ࡣ㸪マイクロ PLCを活用したアクティブラーニングの試行－PID制御器の実装を課題とするシーケンス／フィードバック制御の融合－

100P/R ࡛࠶ࡾ㸪4 ㏴ಸࡋ࡚฼⏝ࡋࡓ㸬࡞࠾㸪ᅗ 2 ࡟♧ࡋࡓ⿦⨨ࡣ㸪ࢥࢿࢡࢱࢆᅇ㊰࠿ࡽᢤࡃࡇ࡜࡛ᮏయ࡜ᅇ㊰ࢆ⡆༢࡟ศ㞳࡛ࡁ㸪ࡲࡓ㸪ᮏయࢆ㔜ࡡ࡚཰⣡ࡍࡿࡇ࡜ࡀ࡛ࡁࡿ[2]㸬

3䠐䠊PIDไᚚᐇ㦂௨ୗ࡟㸪ᮏᤵᴗ࡛ᐇ᪋ࡋࡓ PID ไᚚᐇ㦂ࡲ࡛ࡢᡭ㡰࠾ࡼࡧྲྀᚓࢹ࣮ࢱࡢ୍౛ࢆ⤂௓ࡍࡿ㸬࡞࠾㸪ࡇࡇ࡛⤂௓ࡍࡿᡭ㡰ࡣ㸪

Programmable terminalPLCᤵᴗ࡟࠾ࡅࡿᏛ⏕ࡢࢹ࢕ࢫ࢝ࢵࢩࣙࣥࡸ࣏࣮ࣞࢺࢆࡶ࡜࡟సࡗࡓࡶࡢ࡛࠶ࡿࡇ࡜ࢆ⏦ࡋῧ࠼ࡿ㸬㸲㸬㸯 DC ࣮ࣔࢱࡢࣔࢹࣜࣥࢢDC ࣮ࣔࢱࡢࣔࢹࣜࣥࢢࡣ㸪࣮ࣔࢱ࡟ࢹ࣮ࣗࢸ࢕ẚࡀ୍ᐃ
ࡢPWMಙྕࢆຍ࠼㸪࢚ࣥࢥ࣮ࢲࡢಙྕ࠿ࡽᅇ㌿㏿ᗘࢆ㸪PLCࢆ⏝࠸࡚ྲྀᚓࡋ㸪ࡑࡢ᫬㛫ⓗኚ໬ࢆグ㘓ࡍࡿࡇ࡜࡛⾜࠺㸬௨Power supplyୗ࡟㸪ࡑࡢᡭἲࢆ♧ࡍ㸬

Control circuit㸲㸬㸯㸬㸯 PWM ಙྕࡢ⏕ᡂ
CP1E ࡣ㸪PWM ಙྕฟຊ㸦ྍኚࢹ࣮ࣗࢸ࢕ẚࣃࣝࢫฟຊ㸧ᶵ⬟ࢆᣢࡗ࡚࠸ࡿ㸬ᅗ 4 ࡢ㸪࣒࢜ࣟࣥࡢ CP1E ࡢ࣐ࢽࣗ࢔ࣝ

Fig.2 Developed learning system࡟♧ࡉࢀࡿࡼ࠺࡟㸪PWM ಙྕࡣ PLC ࡢฟຊ࣏࣮ࢺ 100.01
࡟ᐃࡵࡽࢀ࡚࠸ࡿࡓࡵ㸪⾲ 1 ࡢࡼ࠺࡟࣮ࣔࢱࢆ᥋⥆ࡋࡓ[4]㸬
ᅗ 5 ࡟㸪PWM ಙྕࢆฟຊࡍࡿࡓࡵࡢࣛࢲ࣮ᅗࢆ♧ࡍ㸬# ࡣBuzzerConnector

LED16 㐍ᩘ㸪& ࡣ 10 㐍ᩘࢆព࿡ࡍࡿ㸬PWM ࿨௧ࡣ㸪ಙྕࡢ❧ࡕୖࡀࡾ࡛ືసࢆ㛤ጞࡋ㸪ࣃࣝࢫฟຊࢆ೵Ṇࡏࡎ࡟ࢹ࣮ࣗࢸ࢕ẚࢆኚ᭦ྍ⬟࡛࠶ࡿ㸬ࡇࡇ࡛ࡣ㸪࿘Ἴᩘࢆ 100 Hz(&1000) ࡜ࡋ㸪ࢹ࣮ࣗࢸ࢕ẚࡣ D1200 ࣓ࣔࣜୖ࡟ 20%࡜タᐃࡋࡓ㸬㉥ࢫ࢖ࢵࢳ (1.01) ࢆᢲࡍ࡜㸪
PWM ಙྕࡣ೵Ṇࡍࡿ㸬

Relay
Push button

BatteryEncoder
DC-motor

Photo micro sensor

Fig.3 Control circuit

Fig.4 PWM signal output ports⾲ 1 ࡟㸪ᐇ㦂⿦⨨࡟࠾ࡅࡿ㸪ࢫ࢖ࢵࢳ࠾ࡼࡧ࣮ࣔࢱࡢ㸪PLC࡜ࡢ᥋⥆࣏࣮ࢺ␒ྕࢆ♧ࡍ㸬ࡇࡇ࡛౑⏝ࡋ࡚࠸ࡿ PLC ࡣ㸪
CP1E-N30DT-D ࠾ࡼࡧ CP1E-N40S1DT-D ࡛࠶ࡾ㸪࢚ࣥࢥ࣮ࢲࡣ㸪E6A2-CWZ5C 100P/R ࡛࠶ࡿ㸬␗࡞ࡿ 2 ✀㢮ࡢ PLC
ࢆ⏝࠸ࡓࡢࡣ㸪2014 ᖺᗘ㸪࣒࢜ࣟࣥ࠿ࡽᐤ㉗ࡉࢀࡓࡶࡢࢆ㸪ᮏไᚚ⿦⨨ࡢ〇స࡟඘࡚ࡓࡇ࡜࡟ࡼࡿ㸬
Table 1 Connection ports number
ItemRed switch
Yellow switch
Blue switch
DC motor

PLC Port No.
1.01
1.02
1.03
100.01

Fig.5 PWM signal generation

4

沼津工業高等専門学校研究報告㸲㸬㸯㸬㸰 ࢚ࣥࢥ࣮ࢲಙྕࡢ᳨ฟ

第 52 号

ࣜࣥࢢ࢝࢘ࣥࢱ᭱኱್ࢆ 400 ࡟タᐃࡍࡿ㸬PLC ࢩࢫࢸ࣒タCP1E ࢆ⏝࠸ࡓ࢚ࣥࢥ࣮ࢲಙྕࡢ᳨ฟࡣ㸪㧗㏿ࣃࣝࢫ࢟ࣕ

ᐃࢆኚ᭦ࡋࡓሙྜࡣ㸪PLC ࢆ෌㉳ືࡋ࡞ࡅࢀࡤタᐃࡀ᭷ຠ࡟ࢵࢳᶵ⬟ࢆ⏝࠸ࡿ㸬ࡇࡢᶵ⬟࡟ࡼࡾ㸪PLC ࡢࣛࢲ࣮ᅗࡢ࣮ࣝ࡞ࡽࡎ㸪࢚ࣥࢥ࣮ࢲࡢಙྕࡀྲྀᚓ࡛ࡁ࡞࠸Ⅼ࡟ὀពࡍࡿ㸬ࣉ㏿ᗘ࡟↓㛵ಀ࡟㸪እ㒊ࣃࣝࢫಙྕࢆ᳨ฟ࡛ࡁࡿ㸬PWM ࡜ྠᵝ࡟㸪㧗㏿ࣃࣝࢫ࢟ࣕࢵࢳᶵ⬟ࡶ᥋⥆࣏࣮ࢺࡀỴࡵࡽࢀ࡚࠾ࡾ㸪ᅗ 6 ࡟㸪࣐ࢽࣗ࢔ࣝ࠿ࡽࡢᘬ⏝㸦⦅㞟᭷ࡾ㸧ࢆ♧ࡍ[4]㸬㸲㸬㸯㸬㸱 ࢹ࣮ࢱࡢグ㘓࢚ࣥࢥ࣮ࢲ࠿ࡽྲྀᚓࡋࡓᅇ㌿㏿ᗘࢹ࣮ࢱࡢグ㘓ࡣ㸪࣮ࣘࢨ

PLC ࡢධຊ࣏࣮ࢺࡢ㸪0.00㸪0.01㸪0.04 ࡟ࡑࢀࡒࢀ㸪࢚ࣥࢥ࣮ࢲࡢ A ┦㸪B ┦㸪Z ┦ࢆ᥋⥆ࡍࡿ㸬ᅗ 7 ࡣ㸪࢚ࣥࢥ࣮ࢲಙ
ྕࢆྲྀᚓࡍࡿࡓࡵࡢࣛࢲ࣮ᅗ࡛࠶ࡾ㸪PRV ࿨௧ࢆ⏝࠸ࡿ㸬ࡇࡇ࡛ࡣ㧗㏿࢝࢘ࣥࢱධຊ 0 ࢆ౑⏝㸦#10㸧ࡋ㸪100ms ࢧࣥࣉࣜࣥࢢ᪉ᘧ㸦#23㸧࡛ᅇ㌿㏿ᗘ P/sec ࢆྲྀᚓࡋ࡚㸪D100 ࣓ࣔࣜ࡟ࢹ࣮ࢱࢆ᱁⣡ࡍࡿ㸬࡞࠾㸪㧗㏿ࣃࣝࢫ࢟ࣕࢵࢳᶵ⬟ࢆ౑⏝ࡍࡿࡓࡵ࡟ࡣ㸪ᅗ 8 ࡟♧ࡍࡼ࠺࡟ PLC ࡢࢩࢫࢸ࣒タᐃࢆ
⾜࠺ᚲせࡀ࠶ࡿ㸬ࡇࡇ࡛⏝࠸ࡿ࢚ࣥࢥ࣮ࢲࡣ 100P/R ࡞ࡢ࡛㸪Fig.6 Encoder signal input ports

Fig.7 Encoder signal acquisition

Fig.8 PLC system configuration

Fig.9 Data save on the PLC memories

Fig.10 Step response of the DC motor

マイクロ PLCを活用したアクティブラーニングの試行－PID制御器の実装を課題とするシーケンス／フィードバック制御の融合－

5ࡀ⮬⏤࡟౑⏝࡛ࡁࡿ PLC ࡢࢹ࣮ࢱ࣓ࣔࣜ㡿ᇦ࡟᱁⣡ࡋ㸪ࡑ࣮ࢲ࠿ࡽྲྀᚓࡋࡓᅇ㌿㏿ᗘ㸸᭱኱ 400P/sec㸸ᐇ ್ࡼࡾỴᐃ㸧ࡢࢹ࣮ࢱࢆ㸪CX-Programmer ࡢ PLC ࣓ࣔࣜࣔࢽࢱᶵ⬟ࢆࢆ㸪APR ࿨௧ࢆ⏝࠸࡚ࢫࢣ࣮ࣜࣥࢢࡋ㸪ྲྀᚓࡍࡿ㸬ࡲࡓ㸪⏝࠸࡚⾲♧ࡉࡏ㸪ࡑࢀࢆ Excel ࡟ධຊࡍࡿࡇ࡜࡛グ㘓ࡋࡓ㸬PIDAT ࡀィ⟬ࡋࡓ᧯స㔞ࡶ APR ࿨௧ࢆ⏝࠸࡚ࢫࢣ࣮ࣜࣥ

ᅗ 9 ࡟㸪ࢹ࣮ࢱࢆಖᏑࡍࡿࡓࡵࡢࣛࢲ࣮ᅗࢆ♧ࡍ㸬MOV ࿨௧ࢆ⏝࠸࡚㸪ࢧࣥࣉࣝẖ࡟࢖ࣥࢡ࣓ࣜࣥࢺࡍࡿ PLC ࣓ࣔࣜࡢ㛫᥋ᣦᐃࡋࡓ࢔ࢻࣞࢫ࡬㸪100ms ࢱ࢖࣐࡟ࡼࡾ 0.1sec ẖࡢࢹ࣮ࢱࢆ 3 ⛊㛫ಖᏑࡍࡿ㸬㯤ࢫ࢖ࢵࢳ (1.02) ࡀᢲࡉࢀࡓࡽ㸪࣮ࣔࢱ࡟ࢫࢸࢵࣉಙྕࡀධຊࡉࢀࡿ࡜ྠ᫬࡟㸪ࢹ࣮ࢱࡢ࣓ࣔࣜୖ࡬ࡢಖᏑࢆ㛤ጞࡍࡿ㸬
ᅗ 10 ࡟㸪DC ࣮ࣔࢱࡢࢫࢸࢵࣉᛂ⟅ᐇ ್࡜㸪ࡑࡇ࠿ࡽㄞ
ࡳྲྀࡗࡓ᫬ᐃᩘ 0.15㸪᭱⤊್ 230 ࢆ⏝࠸࡚ィ⟬ࡋࡓ㸪୍ḟ㐜ࢀ⣔࡟࠾ࡅࡿࢫࢸࢵࣉᛂ⟅ࡢ⌮ㄽ್࡜ࢆẚ㍑ࡋࡓ⤖ᯝࢆ♧ࡍ㸬ᐇ㦂ࢹ࣮ࢱࡣ㸪5 ᅇ ᐃࢆ⾜ࡗࡓᖹᆒ್࡛࠶ࡿ㸬0 ࠿ࡽ 0.2 ⛊ࡲ࡛࡟㐪࠸ࡀぢࡽࢀࡿࡀ㸪ࡑࢀ௨እࡢᛂ⟅ࡣ࡯ࡰ୍⮴ࡋࡓ㸬ᐇ㦂ࢹ࣮ࢱ࡟࠾ࡅࡿ❧ࡕୖࡀࡾἼᙧ࠿ࡽ㸪ࡇࡇ࡛⏝࠸࡚࠸ࡿࢠ࢔࣎ࢵࢡࢫࡢ௜࠸ࡓ DC ࣮ࣔࢱࡣ୍ḟ㐜ࢀ⣔࡛ࡣ࡞࠸࡜⪃࠼ࡽࢀࡿࡀ㸪ࡇࡇ࡛ࡣ⡆༢ࡢࡓࡵ࡟ไᚚᑐ㇟ࢆ୍ḟ㐜ࢀ࡜㏆ఝࡋ㸪PID ไᚚ⣔ࢆタィࡍࡿࡇ࡜࡜ࡋࡓ㸬㸲㸬㸰 PID ไᚚჾࡢタィ
PID ไᚚჾࡢタィࡣ㸪つ⠊ࣔࢹࣝ࡜ࡋ࡚ࡢ㛢࣮ࣝࣉఏ㐩㛵ᩘࢆ୍ḟ㐜ࢀ⣔࡜ࡋ࡚୚࠼ࡿࡇ࡜࡛㸪PID ไᚚࣃ࣓࣮ࣛࢱࢆ

Fig.11 Implementation of the PID controllerỴᐃࡋ࡚⾜࠺㸬PLC ࡀ᭷ࡍࡿ PID ไᚚᶵ⬟࡟࠾ࡅࡿไᚚධ
ຊಙྕ u(t) ࡣ㸪௨ୗࡢᘧ࡛୚࠼ࡽࢀࡿ[5]㸬
(1)ࡇࡇ࡛㸪e(t)ࡣ┠ᶆ್࡜ࡢㄗᕪ㸪PB ࡣẚ౛ᖏ %㸪Ti㸪Td ࡣࡑࢀࡒࢀ✚ศ᫬㛫㸪ᚤศ᫬㛫 sec ࡛࠶ࡿ㸬ไᚚᑐ㇟࡛࠶ࡿ
DC ࣮ࣔࢱࡢఏ㐩㛵ᩘ G(s)ࢆᘧ(2)㸪つ⠊ࣔࢹࣝ Gc(s)ࢆᘧ(3)ࡢࡼ࠺࡟୚࠼ࢀࡤ㸪ไᚚࣃ࣓࣮ࣛࢱࡣࡑࢀࡒࢀᘧ(4)ࡢࡼ࠺
࡟ィ⟬ࡉࢀࡿ㸬ࡓࡔࡋ㸪T㸪K ࡣࡑࢀࡒࢀ DC ࣮ࣔࢱࡢ᫬ᐃᩘ㸪ࢤ࢖ࣥᐃᩘ㸪Tm ࡣつ⠊ࣔࢹࣝࡢ᫬ᐃᩘ࡛࠶ࡿ㸬ࡍ࡞ࢃࡕ㸪ไᚚ௙ᵝ࡜ࡋ࡚ࢫࢸࢵࣉᛂ⟅ࡢ❧ࡕୖࡀࡾࡢ᪩ࡉࢆᣦᐃࡍࡿࡇ࡜࡛㸪PID ไᚚ⣔ࢆタィࡍࡿ㸬ࡇࡇ࡛ࡣ Tm=0.5 sec
࡜ࡋࡓ㸬
(2)

Fig.12 Preset the PID control parameters

(3)

(4)
㸲㸬㸱 PID ไᚚჾࡢᐇ⿦
ᅗ 11 ࡟㸪PID ไᚚჾࢆᐇ⿦ࡋࡓࣛࢲ࣮ᅗࢆ♧ࡍ㸬PID ไᚚჾࡢ PLC ࡬ࡢᐇ⿦ࡣ㸪PIDAT ࿨௧ࢆ⏝࠸ࡿ㸬PIDAT ࡣᣦᐃࡋࡓࣅࢵࢺᩘ࡛ PID ₇⟬ࢆ⾜࠸㸪┠ᶆ್ࡸไᚚ㔞ࡣṇࡢᩚᩘ್࡛୚࠼ࡿࡓࡵ㸪㏻ᖖࡣࡑࢀࡽࡢ≀⌮㔞㸦ࡇࡇ࡛ࡣ࢚ࣥࢥ

Fig.13 Zero-clear of the other parameters

6

沼津工業高等専門学校研究報告

第 52 号ࢢࡋ㸪ไᚚධຊ㸦ࡇࡇ࡛ࡣ PWM ಙྕ㸸᭱኱ 100%㸧࡜ࡋ࡚ไᚚᑐ㇟࡟ຍ࠼ࡿ[4]㸬࡞࠾㸪ࡇࢀࡽࢫࢣ࣮ࣜࣥࢢࢆࡣࡌࡵ࡜
ࡍࡿ PIDAT ࿨௧࡟ᚲせ࡞タᐃ್ࡣࡍ࡭࡚㸪ᅗ 12 ࡟♧ࡍࡼ࠺࡟㸪㯤ࢫ࢖ࢵࢳ (1.02) ࢆᢲࡍࡇ࡜࡛ MOV ࿨௧࡟ࡼࡾ PLC
ࡢࢹ࣮ࢱ࣓ࣔࣜ㡿ᇦ࡟୚࠼ࡿ㸦ᅗ 12 ࡣࡑࡢฎ⌮ࡢ୍㒊㸧㸬ࡑࡢ㡿ᇦࡣ㸪ᅗ 11 ࡟♧ࡋࡓ APR㸪PIDAT ࿨௧࡛ᣦᐃࡋࡓ࣓ࣔࣜ㡿ᇦ࡜ࡍࡿ㸬ࡲࡓᅗ 13 ࡟㸪PIDAT ࿨௧ࡀไᚚ୰࡟౑⏝ࡍࡿࢹ࣮ࢱ࣓ࣔࣜ㡿ᇦ㸦࣮࣡ࢡ࢚ࣜ࢔㸧ࡢ㸪ึᮇ໬ฎ⌮ࢆ⾜࠺ࣛࢲ࣮ᅗࢆ♧ࡍ㸬PID ไᚚࡢᐇ⾜๓࡟࣮࣡ࢡ࢚ࣜ࢔ࢆึᮇ໬ࡋ࡞ࡅࢀࡤ㸪ṇ☜࡞ไᚚ⤖ᯝࡀᚓࡽࢀ࡞࠸㸬࡞࠾㸪PIDAT ࿨௧࡟࠾ࡅࡿ┠ᶆ್ࣇ࢕ࣝࢱࡣ 1 (D  ࡜ࡋࡓ㸬ྛࢹ࣮ࢱ࣓ࣔࣜ㡿ᇦ࡟୚࠼ࡓ್ࢆ㸪⾲ 2 ࡟ࡲ࡜ࡵࡓ㸬ࡇࡇ࡛ࡣ㸪D206 ࡟࡚ PIDAT ࡢධฟຊࢹ࣮ࢱࢆ 13 ࣅࢵࢺ࡟ᣦᐃ
ࡋ࡚࠸ࡿ㸬D500㹼D504 ࡣ࣮ࣔࢱࡢᅇ㌿㏿ᗘ್㸪D1000㹼
D1004 ࡣ┠ᶆᅇ㌿㏿ᗘ್ࢆඹ࡟㸪0㹼400 ࠿ࡽ 0㹼#1FFF ࡬ኚ᥮ࡍࡿ㝿ࡢ APR ࡛ࡢタᐃ್࡛࠶ࡿ㸬ࡲࡓ㸪D700㹼D704
ࡣ PIDAT ࡟࡚ィ⟬ࡉࢀࡓ᧯స㔞 0㹼#1FFF ࢆ㸪0㹼100(&1000㸸0.1%༢఩) ࡟ኚ᥮ࡍࡿ㝿ࡢ APR ࡢタᐃ್࡛࠶ࡿ㸬࡞࠾㸪PIDAT ࡟ᚲせ࡞㸪┠ᶆ್ (D200)㸪ẚ౛ᖏ (D201)㸪✚ศ᫬㛫 (D202)㸪ࡣࡍ࡭࡚㸪⾲♧ჾ࠿ࡽධຊ࡛ࡁࡿࡼ࠺࡟ࡋࡓ㸬
Table 2 PID control parameters on the D-memories
D500
501
502
503
504
203
204
205

Value
#0800
#0
#0&400
#1FFF
&0&1
#1002

D206
207
208
209
210
700
701
702

Value
#0515
&0&0&0&0
#0800
#0
#0

D

703
704
1000
1001
1002
1003
1004

Value
#1FFF
&1000
#0800
#0
#0&400#1FFF㸲㸬㸲 ⾲♧ჾ⏬㠃ࡢసᡂ
ᅗ 14 ࡟㸪NB-Designer ࢆ⏝࠸ࡓ⾲♧ჾ㸦ࣉࣟࢢ࣐ࣛࣈࣝ
ࢱ࣮࣑ࢼࣝ㸧NB3Q-TW01B ࡢసᡂ⏬㠃ࢆ♧ࡍ㸬⏬㠃ᕥഃ࡟

Fig.15 Freeze-frame configurationࡢಙྕࡢㄞࡳྲྀࡾࢆ᭷ຠ࡟ࡍࡿ㸬Scope Stop ࡣ w0.02 ࢆ๭ࡾᙜ࡚㸪⾲♧ჾ୰ኸ࡟タࡅࡓ࢜ࢩࣟࢢࣛࣇ࡟⾲♧ࡍࡿᅇ㌿㏿ᗘಙྕࡢ㸪᫬⣔ิࢹ࣮ࢱࡢ୍᫬೵Ṇࢆ⾜࠺㸬࢜ࢩࣟࢢࣛࣇࡢ
ࣉࣟࣃࢸ࢕࡟㸪ᅗ 15 ࡟♧ࡍࡼ࠺࡞Ἴᙧࡢ୍᫬೵Ṇᶵ⬟ࡀ࠶ࡾ㸪ࡇࡇ࡛ w0.02 ࢆᣦᐃࡋ࡚࠸ࡿ㸬ᅗ 14 ࡢ┠ᶆ್࣭ẚ౛ᖏ࣭✚ศ᫬㛫ࡣࡑࢀࡒࢀタᐃ್ࢆ㸪⾲♧ჾࢆࢱࢵࢳࡋ࡚⌧ࢀࡿࢸ࣮ࣥ࢟ࢆ⏝࠸࡚ධຊࡍࡿ㸬࡞࠾ᚤศ᫬㛫ࡣ㸪PID ไᚚჾࡢタィ⤖ᯝ㸦ᘧ(4)ࡢ Td㸧ࡼࡾࢮࣟࡢࡓࡵ㸪⾲ 2 ࡟♧ࡍࡼ࠺࡟ D203࡬ࣛࢲ࣮ᅗ࡛ࢮࣟ (&0) ࢆ୚࠼ࡿࡇ࡜࡜ࡋࡓ㸬㸲㸬㸳 DC ࣮ࣔࢱࡢࢤ࢖ࣥᐃᩘࡢ ᐃ
ᅗ 14 ࡛ධຊࡍࡿ✚ศ᫬㛫ࢆ&9999 ࡜ࡍࡿ࡜㸪✚ศືస࡞ࡋࡢタᐃࡀ࡛ࡁࡿ㸬ࡇࢀࢆ฼⏝ࡋ࡚ P ไᚚࡢࡳືసࡉࡏ㸪DC࣮ࣔࢱࡢᅇ㌿㏿ᗘࡢᐃᖖ್㸦౽ᐅୖ y(҄)࡜⾲ࡍ㸧ࢆㄞࡳྲྀࡿࡇ࡜࡛㸪㛢࣮ࣝࣉఏ㐩㛵ᩘࡼࡾ DC ࣮ࣔࢱࡢࢤ࢖ࣥᐃᩘࢆᐃࡍࡿ㸬ᮏ᮶ࢤ࢖ࣥᐃᩘࡣ㸪༢఩ࢫࢸࢵࣉᛂ⟅ࡢ᭱⤊್ࢆᐃࡍࡿࡇ࡜࡛┤᥋ㄪ࡭ࡿࡇ࡜ࡀ࡛ࡁࡿ㸬ࡋ࠿ࡋ㸪ᩘ್ࡢࢫࢣ࣮ࣜࣥࢢࢆ⾜ࡗ࡚࠸ࡿࡇ࡜ࡸ㸪࣮ࣔࢱࢆ PWM ಙྕ࡟ࡼࡾ㥑ືࡋ࡚࠸ࡿࡇ࡜㸪ไᚚ㔞࡛࠶ࡿᅇ㌿㏿ᗘࡣ࢚ࣥࢥ࣮ࢲ࡟ࡼࡿ
㏆ఝ್࡛࠶ࡿࡇ࡜㸪ࢠ࢔࣎ࢵࢡࢫࡢᦶ᧿࡞࡝ࡢᙳ㡪ࢆཷࡅ㸪ࢫࢸࢵࣉᛂ⟅࡛ࡣฟຊ್ࡢࡤࡽࡘࡁࡀ኱ࡁ࠸㸬ࡑࡇ࡛ P ࣇ࢕࣮ࢻࣂࢵࢡไᚚࢆ⾜࠸㸪௨ୗࡢᘧ(5)ࡼࡾẚ౛ᖏ PB ࡜᭱⤊್

࠶ࡿ 3 ࡘࡢࢫ࢖ࢵࢳࡣࡍ࡭࡚࢜ࣝࢱࢿ࣮ࢺ࡜ࡋࡓ㸬PID ONy(҄)࠿ࡽࢤ࢖ࣥᐃᩘ K ࢆィ⟬ࡍࡿᡭἲࢆ࡜ࡿ㸬࡞࠾㸪r ࡣ┠ࡣ㸪ᅗ 11 ࡢ w0.00 ࢆ๭ࡾᙜ࡚㸪PID ไᚚࡢ㛤ጞ࡟⏝࠸ࡿ㸬ᶆᅇ㌿㏿ᗘ࡛࠶ࡿ㸬

Encoder ON ࡣ㸪ᅗ 7 ࡢ w0.01 ࢆ๭ࡾᙜ࡚㸪࢚ࣥࢥ࣮ࢲ࠿ࡽ

Fig.14 Programming on the NB-terminal(5)

Fig.16 Measurement of the gain constantマイクロ PLCを活用したアクティブラーニングの試行－PID制御器の実装を課題とするシーケンス／フィードバック制御の融合－

7

ᅗ 16 ࡟ࡑࡢ⤖ᯝࢆ♧ࡍ㸬PB ್ࡀ኱ࡁࡃ࡞ࡿ࡜㸪ᶵᲔⓗᦶ᧿ࡢᙳ㡪ࢆཷࡅ㸪࣮ࣔࢱࡢᅇ㌿㏿ᗘࡀⴠࡕ㸪ṇ☜࡞್ࡀྲྀᚓ࡛ࡁ࡚࠸࡞࠸࡜⪃࠼ࡽࢀࡿ㸬ࡇࡢ⤖ᯝࡼࡾ㸪ࢤ࢖ࣥᐃᩘࢆ
K=1.2 ࡜ᐃࡵ㸪㸲㸬㸰࡛㏙࡭ࡓᘧࢆ⏝࠸࡚ PID ไᚚჾࢆタィࡋ㸪ᐇ㦂ࢆ⾜ࡗࡓ㸬㸲㸬㸴 MATLAB/Simulink ࡟ࡼࡿタィ࣭ࢩ࣑࣮ࣗࣞࢩࣙࣥ
ᅗ 17 ࡟㸪Simulink ࢆ⏝࠸ࡓ PID ไᚚࡢࢩ࣑࣮ࣗࣞࢩࣙࣥࢆ⾜࠺ࡓࡵࡢࣈࣟࢵࢡ⥺ᅗࢆ㸪ᅗ 18 ࡟㸪MATLAB ࡢࢫࢡࣜࣉࢺࣇ࢓࢖ࣝ࡟グ㍕ࡋࡓ㸪ࢩ࣑࣮ࣗࣞࢩࣙࣥ࡟⏝࠸ࡓࣃࣛFig.19 Simulation result of the PID control

࣓࣮ࢱࢆ♧ࡍ㸬PLC ࡟ࡼࡿࢹ࢕ࢪࢱࣝไᚚࢆ⾜࠺ࡇ࡜࠿ࡽ㸪ࢩ࣑࣮ࣗࣞࢩ࡛ࣙࣥࡣ㸪PID ไᚚჾࡢධຊಙྕࡍ࡞ࢃࡕㄗᕪ
ಙྕࢆ 1 ࢫࢸࢵࣉ㐜ᘏࡉࡏ㸪ࢮࣟḟ࣮࣍ࣝࢻࡋࡓ㸬ࡲࡓ㸪
Simulink ࡟࠾ࡅࡿ㞳ᩓ᫬㛫 PID ไᚚჾ࡟࠾࠸࡚ࡣ㸪௨ୗࡢᘧ࡛ไᚚධຊࢆィ⟬ࡋ࡚࠾ࡾ㸪ࡑࢀ࡟ྜࢃࡏ࡚ไᚚࣃ࣓࣮ࣛ
ࢱࢆ㸪ᅗ 18 ࡢࢫࢡࣜࣉࢺࣇ࢓࢖ࣝ࡟♧ࡍࡼ࠺࡟୚࠼ࡓ㸬(6)

Fig.20 Experimental result of the PID control

Fig.17 Simulation of the PID controlୖ఩ᶵ✀ࡢ PLC ࢆ⏝࠸ࡿᚲせࡀ࠶ࡿ࡜ᛮࢃࢀࡿ㸬䠑䠊䜰䜽䝔䜱䝤䝷䞊䝙䞁䜾ᙧᘧ䛾ᤵᴗ䛻䜘䜛Ꮫ⩦ຠᯝ࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢᙧᘧ࡛ᤵᴗࢆ⾜࠺ࡇ࡜࡛㸪☜࠿࡟Ꮫ⏕ࡢᑓ㛛▱㆑࡟㛵ࡍࡿ⌮ゎᗘࡣྥୖࡋࡓ㸬ࡑࢀࡣ㸪4 ᖺḟࡢไᚚᕤᏛ࡛ㅮ⩏ࡋࡓࡇ࡜ࢆ㸪Ꮫ⏕⮬ࡽࡀ᚟⩦ࡋ㸪౑࠸ࡇ࡞ࡋ࡚࠸ࡿᵝᏊ࠿ࡽឤࡌࡽࢀࡓ㸬࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢࡢຠᯝࡸၥ㢟Ⅼࢆලయⓗ࡟ᢕᥱࡍࡿࡓࡵ࡟㸪ᤵᴗᚋ࡟ḟࡢࡼ࠺࡞ၥ࡟ᑐࡍࡿᅇ⟅ࢆᏛ⏕࡟᭩࠿ࡏࡓ㸬Fig.18 PID control parameters࠙ၥ࠸ࠚ㸸ᮏᤵᴗࡣ㸪୚࠼ࡽࢀࡓㄢ㢟࡟ᑐࡋ࡚Ꮫ⏕ࡀ⮬୺ⓗ࡟㸲㸬㸵 PID ไᚚࢩ࣑࣮ࣗࣞࢩ࣭ࣙࣥᐇ㦂⤖ᯝࡢẚ㍑

ᙧᘧ࡛ᐇ᪋ࡋࡓ㸬㏻ᖖࡢㅮ⩏࡛ࡣᚓࡽࢀ࡞࠿ࡗࡓᡂᯝ࠾ࡼࡧ㸪ㄪᰝ࣭Ꮫ⩦ࡋ㸪ㄢ㢟㐩ᡂࢆ┠ᣦࡍࠕ࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢࠖ
ᅗ 19 ࡟㸪㸲㸬㸴࡛♧ࡋࡓࢩ࣑࣮ࣗࣞࢩࣙࣥ⤖ᯝࢆ㸪ᅗ 20ᨵၿⅬ࡟ࡘ࠸࡚㏙࡭ࡼ㸬࡟㸪ࡑࡢᐇ㦂⤖ᯝࢆࡑࢀࡒࢀ♧ࡍ㸬◚⥺ࡀつ⠊ࣔࢹࣝࡢᛂ⟅㸪ᐇ⥺ࡀ PID ไᚚ⣔ࡢฟຊಙྕ࡛࠶ࡿ㸬࡯ࡰྠᵝࡢ⤖ᯝࡀᚓࡽᚑ᮶᪉ᘧࡢㅮ⩏࡟࠾࠸࡚Ꮫ⏕ࡀᥦฟࡍࡿ࣏࣮ࣞࢺࡣ㸪࠶ࡲࢀ࡚࠾ࡾ㸪
PLCࡢPIDAT࿨௧ࢆ⏝࠸ࡓDC࣮ࣔࢱࡢไᚚࡣ㸪ࡾᩥ❶ࢆ᭩࠿ࡎ㸪ㄝ᫂ࡀ୙༑ศ࡞ࡇ࡜ࡀከ࠸㸬ࡋ࠿ࡋᮏᤵᴗ࠶ࡿ⛬ᗘྍ⬟࡛࠶ࡿ࡜࠸࠼ࡿ㸬ࡓࡔࡋ㸪ࢧࣥࣉࣜࣥࢢࢱ࢖࣒

࡟࠾ࡅࡿୖグၥ࠸࡟ᑐࡍࡿᅇ⟅ࡣ㸪ከࡃࡢᏛ⏕ࡀ⇕ᚰ࡟ᅇ⟅ࡣ 0.1sec ࡀ᭱▷࡛࠶ࡾ㸪つ⠊ࣔࢹࣝࡢ᫬ᐃᩘࢆ࠶ࡲࡾᑠࡉࡃࡋ࡚ࡃࢀࡓ㸬ࡑࡢ୺࡞ᅇ⟅ࢆ௨ୗ࡟♧ࡍ㸬ྲྀࡿࡇ࡜ࡣ࡛ࡁ࡞࠸㸬ࡲࡓ㸪ᐇ㦂⤖ᯝࡢ❧ࡕୖࡀࡾࢆぢࡿ࡜㸪ᡂᯝ㸰ḟ௨ୖࡢ㧗ḟࡲࡓࡣ㠀⥺ᙧᛶࡢᙳ㡪ࡀぢࡽࢀࡿ㸬ࡼࡾṇ☜࡞ไᚚࢆ⾜࠺ࡓࡵ࡟ࡣ㸪」㞧࡞࢔ࣝࢦࣜࢬ࣒ࢆᐇ⿦࡛ࡁࡿ㸪㐍ᤖࢆ⮬ᕫ⟶⌮࡛ࡁࡿࡼ࠺࡟㸪ࢢ࣮ࣝࣉෆ࡛⮬୺ⓗ࡟ணᐃ⾲ࢆసᡂࡋࡓ㸬

8

沼津工業高等専門学校研究報告

第 52 号௚ࡢᤵᴗࡼࡾ㸪ᅽಽⓗ࡟ᤵᴗ᫬㛫እ࡛ᤵᴗࡢࡇ࡜ࢆ⪃࠼࡚࠸ࡓ㸬ᚚຠᯝࡀ඘ศ᳨ドࡉࢀࡓࡶࡢ࡛ࡣ࡞࠿ࡗࡓࡀ㸪PLC ࢆ౑ࡗࡓ⮬ศࡢ࣮࣌ࢫ࡛㐍ࡵࡽࢀࡿࡢ࡛㸪ࡕࡷࢇ࡜⌮ゎࡋ࡞ࡀࡽḟ࡟㐍ࡵ

PID ไᚚࡢᐇ⿦᪉ἲࡣࡼࡃ⌮ゎ࡛ࡁࡓࡼ࠺࡛࠶ࡗࡓ㸬ᤵᴗᚋࡽࢀࡓ㸬ไᚚᶵჾࡢ࣐ࢽࣗ࢔ࣝࢆ⮬ຊ࡛ㄞࡴ⦎⩦ࡀ࡛ࡁࡓ㸬Ꮫ⏕ࡀ┦஫࡟Ꮫ⩦ෆᐜࢆㄝ᫂ࡋྜ࠸㸪᝟ሗ஺᥮ࡍࡿࡇ࡜࡛㸪⮬ศゝࢃࢀࡓ࡜࠾ࡾ࡟సᴗࡍࡿࡔࡅࡢᤵᴗࡼࡾ㸪⮬ศ࡛⪃࠼࡚సᴗࡍ⮬㌟ࡢ⌮ゎᗘࡀ῝ࡲࡗࡓ㸬ࡿᤵᴗࡢ᪉ࡀ㸪ࡼࡾ῝ࡃㄢ㢟ࡢព࿡ࢆ⌮ゎ࡛ࡁࡓ㸬ࢢ࣮ࣝࣉෆࡢ࣓ࣥࣂࡸ㸪௚ࡢࢢ࣮ࣝࣉࡢ࣓ࣥࣂ࡜ࡢࢥ࣑ࣗࢽࢣ࣮ࢩࣙࣥࢆ࡜ࡿࡇ࡜࡛㸪␗࡞ࡿ⪃࠼᪉࡟ゐࢀࡿࡇ࡜ࡀ࡛ࡁࡓ㸬࡟࠶ࡿᏛ⏕࡟㸪ᑗ᮶ྠࡌࡇ࡜ࢆ PLC ࡢ࣐ࢽࣗ࢔ࣝࡔࡅࢆ㢗ࡾ࡟࡛ࡁࡿ࠿࡜ၥ࠺࡜㸪ࠕ࡛ࡁࡿ࡜ᛮ࠺ࠖ࡜㸪⮬ಙࢆᣢࡗ࡚⟅࠼࡚࠸ࡓࡢࡀ༳㇟ⓗ࡛࠶ࡗࡓ㸬䠒䠊⤖ゝᶵᲔᕤᏛ⛉ 5 ᖺ⏕ࢆᑐ㇟࡟㸪࣒࢜ࣟࣥࡢ㸪࣐࢖ࢡࣟ PLC ࡢㅮ⩏ࢆཷࡅࡿࡢ࡛ࡣ࡞ࡃ⮬ศ࡛⪃࠼࡚సᴗࡍࡿࡇ࡜࡛㸪ᐇ㝿࡟౑୍✀࡛࠶ࡿ CP1E ࢆ⏝࠸࡚㸪DC ࣮ࣔࢱ࡟࠾ࡅࡿ PID ไᚚࡢ࠼ࡿ⏕ࡁࡓ▱㆑ࡸ⤒㦂ࢆ㌟࡟௜ࡅࡿࡇ࡜ࡀ࡛ࡁࡓ㸬ᐇ⿦ࢆㄢ㢟࡜ࡋࡓ㸪࢔ࢡࢸ࢕ࣈ࣮ࣛࢽࣥࢢᙧᘧࡢᤵᴗࢆᐇ᪋⮬ศ࡛ㄪ࡭ࡓࡾຮᙉࡋࡓࡾࡍࡿࡢ࡛㸪ඛ⏕࡟ᩍ࠼࡚ࡶࡽ࠺ࡼࡾ⮬ࡋࡓ㸬ᶵᲔᕤᏛ⛉ࡣ㸪2࣭3 ᖺḟ࡛ࣉࣟࢢ࣑ࣛࣥࢢࡸ㟁Ẽࡢࡇศࡢ㢌࡟ධࡾࡸࡍ࠸࡜ឤࡌࡓ㸬࡜ࢆᏛࡧ㸪3 ᖺḟ࡟ᚤศ᪉⛬ᘧ㸪4 ᖺḟ࡟ࣛࣉࣛࢫኚ᥮ࡸไ

ᗙᏛ࡛Ꮫࢇࡔࡇ࡜ࡀ㸪㌟㏆࡞ࡇ࡜࡜ࡋ࡚࡜ࡽ࠼ࡽࢀࡓ㸬ຮᙉࡍࡿࡇ࡜ࡀᴦࡋ࠸࡜ឤࡌࡽࢀࡓ㸬ఱᗘࡶኻᩋࡋ࡞ࡀࡽㄢ㢟ࢆゎỴࡍࡿ࡜࠸࠺⤒㦂ࡀ࡛ࡁࡓ㸬ࡀ࡛ࡁࡿ㸬 PLC ࡸࣛࢲ࣮ᅗ࡜࠸࠺᪂ࡋ࠸ࡶࡢࢆ⮬୺Ꮫ⩦ࡋ⮬ศࡢ⯆࿡ࡀᗈࡀࡗࡓ㸬ࡘࡘ㸪Ꮫࢇࡔࡇ࡜ࢆ᚟⩦ࡋ࡞ࡀࡽᐇᶵࢆ౑ࡗ࡚ᛂ⏝ࡋ㸪ᐇ⏝㏻ᖖࡢᤵᴗ࡜␗࡞ࡾ㸪⮬ࡽ࢔ࢡࢩࣙࣥࢆ㉳ࡇࡍࡓࡵ㸪ࡸࡿẼࡀ㉳ⓗ࡞▱㆑࡜ࡋ࡚ࡢᐃ╔ࢆᅗࡗࡓ㸬ᑡ࡞ࡃ࡜ࡶཷㅮᏛ⏕ࡢ⣙ 4ࡇࡿ㸬ᨵၿⅬ๭࡟㸪඘ศ࡞Ꮫ⩦ຠᯝࡀぢࡽࢀࡓ㸬ࡇࡇ࡛⏝࠸ࡓ PLC ࡀᣢࡘ PID ไᚚᶵ⬟ࡣᮏ᮶㸪 ᗘไᚚ࣐ࢽࣗ࢔ࣝࢆ඘ᐇࡉࡏࡿ࠿㸪ࡲࡓࡣ㉁ၥ࡛ࡁࡿᩍဨࢆቑࡸࡋ࡚࡯ࡸࢱࣥࢡࡢᾮ㠃ࣞ࣋ࣝไᚚ࡞࡝㸪ẚ㍑ⓗᛂ⟅ࡢ㐜࠸ไᚚࢆᑐࡋ࠸㸬㇟࡜ࡋ࡚࠸ࡿ㸬ࡋ࠿ࡋ㸪PLC ࡢ㧗㏿ࣃࣝࢫ࢟ࣕࢵࢳᶵ⬟࠾ࡼ㐍ᤖࡀࢢ࣮ࣝࣉ࡟ࡼࡗ࡚␗࡞ࡾ㸪୰㏵༙➃࡞≧ែ࡛⤊ࢃࡿ࡜ࡇࢁ

ࡧ PWM ಙྕฟຊᶵ⬟ࢆ⏝࠸࡚㸪DC ࣮ࣔࢱࡢ㏿ᗘไᚚ࡟ࡶ

ࡀ࠶ࡗࡓ㸬ᚚᕤᏛࢆᏛࡪ㸬ᮏ⛉┠ࡣ㸪ࡑࢀࡽࡢ㞟኱ᡂ࡜ࡋ࡚ྲྀࡾ⤌ࡴ஦ᤵᴗࡀ㐌㸯ᅇ࡞ࡢ࡛㸪๓ᅇࡲ࡛ࡢᐇ᪋ෆᐜࢆᛀࢀ࡚࠾ࡾ㸪ࡑࡢ☜࠶ࡿ⛬ᗘ㐺⏝࡛ࡁࡿࡇ࡜ࡀศࡗࡓ㸬ࡇࡇ࡛㏙࡭ࡓヨࡳࡀ௚㧗ㄆࡢࡓࡵ࡟᫬㛫ࡀ࠿࠿ࡗࡓ㸬ᑓ㸪ࡉࡽ࡟ࡣ࣒࢜ࣟࣥ࡟࠾ࡅࡿᩍ⫱㒊⨫࡛㸪ά⏝ࡉࢀࡿࡇ࡜

࣓ࣥࣂࡢ୍ேࡀఇࡴ࡜㸪సᴗࡀ⁫ࡿ㸬ࢆᮇᚅࡍࡿ㸬ࢢ࣮ࣝࣉෆ࡛ࡢసᴗࡀ࠿ࡳ࠶ࢃࡎ㸪ᚅࡕ᫬㛫ࡀⓎ⏕ࡍࡿࡇ࡜ࡀ࠶
ࡗࡓ㸬Ꮫ⏕ྠኈ࡛ヰࡋྜࡗ࡚ࡶศࡽ࡞࠸᫬㸪ㅮ⩏ࢆࡋ࡚࡯ࡋ࠸㸬ศࡽ࡞࠸ࡇ࡜ࡀࡑࡢࡲࡲ࡟࡞ࡗ࡚ࡋࡲ࠺ࡇ࡜ࡀ࠶ࡿࡢ࡛㸪ᐃᮇⓗㅰ㎡㻌ᮏ◊✲ࡣ㸪JSPS ⛉◊㈝ 16K01047 ࡢຓᡂࢆཷࡅࡓࡶࡢ࡛࠶ࡿ㸬࡞ពぢ஺᥮఍ࡢࡼ࠺࡞ሙࡀ࡯ࡋ࠸㸬ࢢ࣮ࣝࣉෆ࡛ᙺ๭ศᢸࢆࡍࡿ࡜㸪ே࡟ࡼࡗ࡚Ꮫࢇࡔࡇ࡜ࡀ␗࡞ࡿ㸬ཧ⪃ᩥ⊩㻌ᤵᴗ࡜ࡣ↓㛵ಀ࡞ヰࢆࡍࡿࡇ࡜ࡀ࠶ࡗࡓ㸬⾜ࡁワࡲࡗ࡚ゎỴ᪉ἲࡀぢࡘ࠿ࡽ࡞࠸࡜㸪࣮ࣔࢳ࣮࣋ࢩࣙࣥࡀୖ[1]࣒㸪https://www.kosenforum.kosen-k.go.jp/㸦2017 ᖺࡀࡽ࡞࠸㸬᫂☜࡞┠ᶆᥦ♧ࡀ࡞࠸࡜㸪௒ఱࢆࡍ࡭ࡁ࠿ࡀศࡽ࡞ࡃ࡞ࡿ㸬㐍ᤖ≧ἣࢆⓎ⾲ࡋྜ࠸㸪㐜ࢀ࡚࠸ࡿࢢ࣮ࣝࣉࡢࢧ࣏࣮ࢺࢆ㐍ࢇ࡛ᅜ❧㧗➼ᑓ㛛Ꮫᰯᶵᵓ㸪ᖹᡂ 29 ᖺᗘ඲ᅜ㧗ᑓࣇ࢛࣮ࣛ
11 ᭶ 13 ᪥ཧ↷㸧[2]୕㇂㸪㧗▮㸪す㸪ᒣஅෆ㸪PLC ࢆ⏝࠸ࡓᑠᆺ࡛ỗ⏝ᛶ࠸ࡿேࡀ⾜࠺࡜㸪඲యࡢ⌮ゎᗘࡀୖࡀࡿ࡜ᛮ࠺㸬ࡢ࠶ࡿࢩ࣮ࢣࣥࢫไᚚᏛ⩦ᩍᮦࡢ㛤Ⓨ㸪἟ὠᕤᴗ㧗➼ᑓ༙ᮇ࡛ࡣ᫬㛫ࡀ㊊ࡾ࡞࠸㸬㛛Ꮫᰯ◊✲ሗ࿌㸪No.51㸪2017㸪pp.1-6௚ࡢே࡟㢗ࡾࡗࡁࡾ࡟࡞ࡿࡇ࡜ࡀ࠶ࡿ㸬

[3]

2002

ୖグᨵၿⅬࢆ㸪ḟᖺᗘ࡟ࡍ࡭࡚ゎᾘࡍࡿࡢࡣ㞴ࡋ࠸࠿ࡶࡋ
ࢀ࡞࠸㸬ᑐ⟇࡜ࡋ࡚㸪ᤵᴗࡢጞࡵ࡟ྛ⌜ࡢ๓ᅇࡲ࡛ࡢ㐍ᤖࢆ᪥ᮏᶵᲔᏛ఍㸪JSME ࢸ࢟ࢫࢺࢩ࣮ࣜࢬ ไᚚᕤᏛ㸪[4]࣒࢜ࣟࣥᰴᘧ఍♫㸪ࣉࣟࢢ࣐ࣛࣈࣝࢥࣥࢺ࣮ࣟࣛሗ࿌ࡉࡏ㸪㐍ᤖࡢ㐜ࢀ࡚࠸ࡿ⌜ࢆ㐍ࢇ࡛࠸ࡿ⌜ࡀࢧ࣏࣮ࢺࡍ

Sysmac CP ࢩ࣮ࣜࢬ CP1E CPU ࣘࢽࢵࢺ ࣮ࣘࢨࢬࡿࡇ࡜ࢆヨࡳࡿணᐃ࡛࠶ࡿ㸬ࡲࡓ㸪ྛ⌜ࡢᢸᙜࡣỴࡵࡎ࡟㸪࣐ࢽࣗ࢔ࣝ ࢯࣇࢺ࢙࢘࢔⦅㸪2016Ꮫ⏕ࡢ⮬୺ᛶ࡟௵ࡏࡿࡇ࡜࡜ࡍࡿ㸬ᮏሗ࿌࡛⤂௓ࡋࡓࢩࢫࢸ࣒ไᚚᕤᏛᇶ♏ࡣ㑅ᢥ⛉┠࡛࠶ࡾ㸪ᶵᲔᕤᏛ⛉ 5 ᖺ⏕ 37 ྡ୰ 18 ྡࡀཷㅮࡋࡓ㸬ࡑࡢ࠺ࡕ㸪PIDไᚚᐇ㦂ࡲ࡛฿㐩ࡋࡓᏛ⏕ࡣ 12 ྡ㸪ᐇ㦂⤖ᯝࡲ࡛࣏࣮ࣞࢺ࡟ࡲ࡜ࡵࡽࢀࡓࡢࡣ 7 ྡࡔࡗࡓ㸬ࡑࡢࢹ࣮ࢱࡣ㸪ᚲࡎࡋࡶไ[5]࣒࢜ࣟࣥᰴᘧ఍♫㸪ࣉࣟࢢ࣐ࣛࣈࣝࢥࣥࢺ࣮ࣟࣛSysmac CP ࢩ࣮ࣜࢬ CP1E CPU ࣘࢽࢵࢺ ࢥ࣐ࣥࢻࣜࣇ࢓ࣞࣥࢫ࣐ࢽࣗ࢔ࣝ㸪2014