Balancing Control for Cart/Seesaw System in using Fuzzy Logic methodology

• Main Authors: Shun-Yu Guo, 郭舜裕
• Other Authors: J. Lin
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/54156154220452744194

碩士 === 清雲科技大學 === 機械工程研究所 === 99 === The objectives of the research are to develop a novel model which is called cart-seesaw system, and renovate a novel approach for achieving a high dynamic balance performance for such system. The system consists of two mobile carts, which are coupled via rack and pinion mechanics to two parallel tracks mounted on pneumatic rodless cylinders. One cart carries a payload, and the other carts acts as a counterbalance to keep the seesaw on the dynamic balance. One adjustable counterweight mass is also installed underneath the seesaw to serve as a passive damping mechanism to absorb impact and shock energy. The seesaw was jointed and freely rotated in unison about the pivot point. A liner potentiometer were utilized to determine the position of the sliding cart, and rotary potentiometer were adopted to determine the seesaw angle. The dynamic equation by using Lagrange’s formulation is the first proposed for control purposes of such new model. Moreover, Fuzzy Logic scheme is utilized to investigate the dynamic balancing control for such system. Consequently, it is shown that the proposed Fuzzy control methodology offers several implementation advantages such as less tracking error, reduced effect of chattering, and a fast convergent rate then traditional PID control. The complete system is developed of the Sensor and Control laboratory at the Department of Mechanical Engineering at Ching Yun University and the investigation is take possession of the Republic of China’s (ROC’s) patent. The proposed software/hardware platform can be also profitable for the standardization of laboratory equipment, as well as for the development of entertainment tools.