International Journal of Control, Automation, and Systems

  • 제4권4호
  • /
  • Pages.524-528
  • /
  • 2006
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  • 1598-6446(pISSN)
  • /
  • 2005-4092(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

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)
  • 발행 : 2006.08.01
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초록

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.

키워드

참고문헌

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