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An Implementation of Balance Beam Controller(New Construction Machinery) for an Attitude Control and Stabilization of an Unstructured Object  

Yi Keon Young (광운대학 전기공학과)
Kim Jin-Oh (광운대학 정보제어공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.1, 2003 , pp. 38-44 More about this Journal
Abstract
In this study, the balance beam control subsystem, new type of construction machinery using the mechanism of CMG (control moment gyro), for the attitude control of an unstructured object such as a beam carried by a tower crane, is designed and implemented. The balance beam controller consists of a wheel spinning at high speed and an outer gimbal for controlling the attitude of the wheel. Two motors, one for the wheel and the other for the gimbal, are used. Applying force to the spin axis of the wheel, as an input of the system, leads the torque about the axis because of the gyro effects. This torque is used to control the attitude of the unstructured object in this study. For the stabilizer function, in addition, holding the load at the current position, the attitude of the wheel is freed by cutting the power applied to the gimbal motor of the balance beam controller, which result in the braking force to stop the load by gyro effect. The works presented here include the mechanical system of the balance beam controller, the remote controller, the servo controller and the control software for the system. We also present experimental results to show that the system we proposed is useful as a new construction machinery which can control the attitude of the beam hanging from a tower crane.
Keywords
CMG; Gyro actuator; gyro effect; balance beam; construction machinery; PID control;
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