International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of a Balance-Beam with Unknown Loads Using the Restoration Angle of a Gimbal

  • Yi Keon-Young (Department of Electrical Engineering, Kwangwoon University) ;
  • Kim Yong-Jun (Department of Electrical Engineering, Kwangwoon University) ;
  • Chung Sam-Yong (Research Institute of Technology, Samsung Corporation) ;
  • Han Song-Soo (Research Institute of Technology, Samsung Corporation) ;
  • Lee Sang-Heon (Research Institute of Technology, Samsung Corporation)
  • Published : 2006.08.01
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Abstract

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.

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References

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