A Novel Ball on Beam Stabilizing Platform with Inertial Sensors
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2015, Vol 6, Issue 8
Abstract
This research paper presents dynamic modeling of inertial sensor based one degree of freedom (1-DoF) stabilizing platform. Plant is a ball on a pivoted beam. Nonlinear modeling of the plant is done. Ball position on beam is actuated by DC motor using two arms and one beam structure. Arms and beam are linked by pivoted joints. Nonlinear geometrical relations for mechanical structure are derived followed by physically realizable approximations. These relations are used in system dynamic equations followed by linearization, resulting in a linear continuous time differential equation model. State space conversion is done. Final model is simulation and system dynamics are elaborated by analysis of the simulation responses
Authors and Affiliations
Ali Haider, Muhammad Nasir, Basit Safir, Farhan Farooq
Keywords
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- EP ID EP95385
- DOI 10.14569/IJACSA.2015.060807
- Views 85
- Downloads 0
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