| Type of Document |
Master's Thesis |
| Author |
Carr, Angela Sara
|
| URN |
etd-04022001-110522 |
| Title |
Position Control Comparison of Equilibrated and Mass Counterweight Systems |
| Degree |
Master of Science |
| Department |
Mechanical Engineering |
| Advisory Committee |
| Advisor Name |
Title |
| Reinholtz, Charles F. |
Committee Chair |
| Leo, Donald J. |
Committee Member |
| Saunders, William R. |
Committee Member |
|
| Keywords |
- Equilibrator
- Dynamic Model
- Control
|
| Date of Defense |
2001-03-30 |
| Availability |
unrestricted |
Abstract
In robotic systems, reduction of inertia is a key concern. One way to reduce the system inertia is to replace counterbalance masses with an equilibrator, which is a force element like a spring. Although there has been much research on equilibrated mechanisms, there has not much research on the control of these mechanisms. This thesis explores the PID control of equilibrated systems, and compares the results to the PID control of a common method of equilibration, the mass counterweight. Through modeling, simulating, and testing of the two systems, the equilibrated system response was found to be superior to the mass counterweight in measures of settling time and peak overshoot.
|
| Files |
| Filename |
Size |
Approximate Download Time
(Hours:Minutes:Seconds)
|
| 28.8 Modem |
56K Modem |
ISDN (64 Kb) |
ISDN (128 Kb) |
Higher-speed Access |
| |
Angela_ETD.pdf1.pdf |
2.72 Mb |
00:12:34 |
00:06:27 |
00:05:39 |
00:02:49 |
00:00:14 |
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