Control of a Balance-Beam with Unknown Loads Using the Restoration Angle of a Gimbal
نویسندگان
چکیده
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.
منابع مشابه
Developing a Convenient Balance Beam for Unknown Loads
Balance beam, a controller that is built adopting the gyro effect, can freely control the attitude of an unstructured object by means of the position controlling of an inner gimbal. However in the former research, the weight (inertia) of a load should be known to issue a proper command for the gimbal, which makes it hard to operate the balance beam in field applications because the load can be ...
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