[KSCI] Korea Science Citation Index Service

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)

Publication Information

International Journal of Control, Automation, and Systems / v.4, no.4, 2006 , pp. 524-528 More about this Journal

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.

Keywords

Balance-beam; construction equipment; gimbal; load estimation;

Citations & Related Records

Times Cited By Web Of Science : 0 (Related Records In Web of Science)
Times Cited By SCOPUS : 0

Reference

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