Stabilization and equilibrium control of a new pneumatic cart-seesaw system

Abstract

SUMMARYThis investigation describes the mechanical configuration and control environment for a novel cart-seesaw system. This mechanism is called a super articulated mechanical system (SAMS). The system comprises a cart that slides on the pneumatic rodless cylinder. The rodless cylinder is double-acting with the carrier bracket, on which a cart is a pinion mechanism for the tracks. The cart-seesaw system brings the cart from any initial position to a desired position on the seesaw by applying an appropriate force to the cart and thus adjusting the angle of the seesaw. The position of a cart denotes the first degree of freedom, which is activated by a pneumatic proportional valve, and the angle of the seesaw indicates the second degree of freedom that is not actuated. Consequently, the proposed new pneumatic cart-seesaw system is straightforward to construct and direct to operate in different scenarios of performance. A state feedback controller is applied for stabilization of the equilibrium point of the system. Moreover, this study adds a supervisory controller that takes control action in extreme situations. Test results reveal excellent properties in control performance. The proposed product can be extensively applied in SAMS and pneumatic control for robotics control laboratory.