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Quanser |
LFJ on Seesaw
Challenge:
Design a control system to balance a seesaw using
a flexible structure mounted atop of it.
Description:
A freely rotating seesaw is mounted on an instrumented
fulcrum. A powered cart driving a non-powered mass via a spring is
mounted on the seesaw. Both carts travel freely along the length of
the seesaw. The powered cart is driven by a rack and pinion mechanism
using a 6V DC motor, ensuring consistent and continuous traction. The
cart slides along a stainless steel shaft using linear bearings. The
cart position is measured using a sensor coupled to the rack via an
additional pinion.
The objective is to design a controller that maintains
the seesaw balance by driving the carts back and forth. The system
is supplied with a state feedback controller. You may design any other
controller you wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
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