H.2.1 Electro cart balancing a rod

(single-degree-of-freedom pole balancing, started 1978)


Mechanical characteristics:

Vehicle dimensions: ~ 430 x 280 x 100 mm

vehicle mass: 8.1 kg

torque of motor: 3 Nm

max. acceleration: ~ 8 m/s2 ≈ 0.8 g (g = Earth gravity)

wheel diameter: 108 mm

mass of poles: 45, 90, 180 grams

One rotational dof in vertical plane; axle for mounting the rod (pole) parallel to vehicle axles;

Length L of poles (Φ = 12 mm): o.5, 1, and 2 m; (2 m leading to stable vibrations as seen in the top-right sub-image; measurement of pole position near the node points)

Eigenfrequencies of balanced rigid poles:

[1.12 Hz = 7.0 rad/s for L = 0,3 m]

0.86 Hz = 5.4 rad/s for L = 0,5 m

0.61 Hz = 3.8 rad/s for L = 1,0 m

0.43 Hz = 2.7 rad/s for L = 2,0 m.

Video 01 PoleBalancing 1984

A.1 Pole balancing

References

Meissner HG (1982): Steuerung dynamischer Systeme aufgrund bildhafter Informationen. Dissertation, UniBwM / LRT.

Meissner HG, Dickmanns ED (1983). Control of an Unstable Plant by Computer Vision. In T.S. Huang (ed): Image Sequence Processing and Dynamic Scene Analysis. Springer-Verlag, Berlin, pp. 532-548

Wuensche HJ (1988). Bewegungssteuerung durch Rechnersehen. Dissertation. LRT, UniBwM