Seesaw
Challenge:
Design a control system to balance a seesaw using
a sliding powered mass.
Description:
A rotating seesaw is mounted on an instrumented fulcrum. A powered cart
is mounted on the seesaw to travel freely along the length of the seesaw.
The solid aluminum 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 goal is to design a controller that maintains the seesaw balance
by driving the cart back and forth along the seesaw. The system is
supplied with a state feedback controller. You may design any other
controller you wish.
Difficulty:
Undergraduate - second course / Graduate / Project
/ Research
|
