串り御実験装置、 2次元安定ステージの開発
Contents
1. 1 O 2 PP2. 3 FA M3 CPU Basic CPU PO
3. PO Programmable Controller PC AC 1 0 V 2
4. AC100V AC 3 PWM AC 3 AC 4 3 Rf P J 1 J 3 GTRS 60Hz N GTR7 GTR4 GTR6 GTR2
5. 1 2 81 7 1 8 PID 100mm e 173 V mm 30 mm 10 V PC PC AD 3 10V 20 000 CPU
6. PC98 2 DOS V 1 2 3 3 FA M3 AC Servo Drive series 2 7
7. 2 DC 2 2 2 1 2 1 10VDC AC 1 2 2 PC CPU 8 PID
8. 2 1 2 PC PC A4D CPU CPU DA 1 1 8 3 1 DA AC
9. PC 1 5K 1ms 2 147 W X100 ED X88 192 3 8192 CPU 68000 2048 DIO 24 222 0 18 0 36 s 0 36 s 10K CPU Basic CPU CPU
10. 777 7 3mm 1V SER 1 500 ms div 8 2 2 Oo oA Pron HA oo t 8 3 3 8 1 1 2 18 SM SE No ES RA AU AITAIA AA AA AVN I A AR A A MAA A IMLMIMIM M MIM_MLMIM MN UM UIUIU M W _ M UMUUIVUUV LA ALA AIGEA AL ALAN AIA MM LaTALALL 4 TATATLL PV 7 7 MVIVM VV 5 358 EE c 1 s div 41 1999 KNIIIIE HHHL a 1 Ei e 1 s div
11. 8 1 PID 1 det Kao faa rr 0 8 D proportional gain 7 reset time T rate time u t controller output e error signal input DA DA AD 20 000 10V PO AC AC 10V 3000rpm 9mm PID 8 1 PID 1 2 8 1
12. DA ata Acquisition DA 10 2 PC PC M8 CPU YM BASIC C
13. 2000 10000 10000 gt 10000 4mA 20mADC 20000 20000 3 2 2 20000 20000 3 2 4 20mA 10000 10000 20000 20000 10000 3 2 2 4 AC AC nodel SGM A3B mmodel 8DG A3B DC AC 4 1
14. 3 1 CPU 3 HUT 3 41 1999 3 1 2 P i0V 30000 20000 oyDc iooo6 lt 26000 oy oc svpo sooo lt eooo iv 2000 10000 5VDC 20000 20000 3 1 3 1 8 1 3 2 ey ck 20000 20000 10V 10VDO
15. AC SGM A83G AC 120 3 PWM sm9 2 l ml 4 me 4 phase current Al 7 nmaximunmm current AA m 9 rotorposition rad T see 9 remm 3 ml 7 Ht
16. 2 8 10 6 AC 3Z4M J 8 J A Miller A M Lopez C L Smith and PW Murril A Comparison of Controller Tuning Techniques Control Engineer
17. 4 1 I DC AC DC AC DC SM AC
18. CONV PBU INV 4 3 AC 5 2 2 DC12V50W 2 1 6 3Z4M J12226 100mm 30mm 3B 780nm 5mW 50 gm 10VDC 4 20mADC 1ms
19. 8 4 a e 9 3 2 3 2 3 3 2 2
20. 6 1 Ei 41 1999 5OkQ 500Q 6 1 7 BASIO PROGRAM BASIC POC
21. wln constant effective field flux density AC AC AC N o 60 WM a mm f frequency Hz p number of polse AC SGM A8G 4 1 A B N m 41 AC SGM A3G AC AC 4 2 EID B 0 4 2 AC AC
22. NDC 548 3 2 Development of Controllable Stage System Gen TSUGAWA Masayasu WAKAMATSU Abstract This paper describes Controllable Stage System which was developed as a system to test and demonstrate availability of position and posture control devise for under water vehicles It consists of sensors sensor interfaces A D exchanger CPU D A exchanger actuator and framework Since the system also contains input signal generating devices it will be available to test control algorithms and or sensor system of the newly developed one On the other hand the system may be applied to facilities for general student experiment as it is Dut on a compact framework 1 2 3 2 2
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