대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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밸런스 빔 제어기를 이용한 자동부하 인식에 관한 연구

A Study of Automatic Load Estimator for a Balance Beam Controller

  • 이필주 (광운대학교 전기공학과) ;
  • 사영호 (광운대학교 전기공학과) ;
  • 이건영 (광운대학교 전기공학과)
  • Lee, Phill-Ju (Dept. of Electrical Engineering, Kwangwoon University) ;
  • Sa, Young-Ho (Dept. of Electrical Engineering, Kwangwoon University) ;
  • Yi, Keon-Young (Dept. of Electrical Engineering, Kwangwoon University)
  • 발행 : 2002.07.10
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초록

This paper presents an Intelligent Balance Beam Controller(IBBC) which can estimate the inertia of load automatically. Balance Beam controller is a kind of construction tool which can control the attitude of the load hanging in the air such as a beam carried by crane. In our previous work, Balance Beam had been built to control the object in air using a mechanical gyro system having a position controllable gimbal structure. In field application the load inertia for operation is not easy to figure out because the weight and shape which determines the inertia, varies depending on the object to be carried. Therefore it is difficult for a worker to operate a Balance Beam and an accident could be caused occasionally. We designed an automatic load estimator to measure the inertia of arbitrary load by using an angular velocity sensor that is installed on the Balance Beam. Simulation results and current status for implementation are presented.

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