Control of a Balance-Beam with Unknown Loads Using the Restoration Angle of a Gimbal

A controller built with the gyro effect for a balance-beam can freely control the attitude of an unstructured object by changing the position of an inner gimbal. In this paper, we propose a new balance-beam controller that can detect the inertia of the load to limit the velocity of the load commande...

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 4; no. 4; pp. 524 - 528
Main Authors Yi Keon-Young, Kim Yong-Jun, Chung Sam-Yong, Han Song-Soo, Lee Sang-Heon
Format Journal Article
LanguageKorean
Published 제어·로봇·시스템학회 01.08.2006
Subjects
제어계측공학
load estimation
Balance-beam
construction equipment
gimbal
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Summary:A controller built with the gyro effect for a balance-beam can freely control the attitude of an unstructured object by changing the position of an inner gimbal. In this paper, we propose a new balance-beam controller that can detect the inertia of the load to limit the velocity of the load commanded by a user. We found that when there was smaller load inertia, a larger restoration displacement occurred. Therefore, the load can be identified by issuing a predefined command to measure the restoration displacement, which enables us to construct a controller that can limit the angular velocity of the load by planning the motion. Experimental results show the performance of the controller with different loads.
Bibliography:KISTI1.1003/JNL.JAKO200633242345756
G704-000903.2006.4.4.006
ISSN:1598-6446
2005-4092