Naslov
Control of Pneumatically Actuated Inverted Wedge

Autori
Šitum, Željko ; Petrić, Joško

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
7th International Research/Expert Conference "Trends in the Development of Machinery and Associated Technology" TMT 2003 Proceedings / J.V.Calvet, F.P.Sales, S.Ekinović, S.Brdarević - Lloret de Mar : Faculty of Mechanical Engineering in Zenica, Escola Tecnica Superior D'Enginyeria Industrial de Barcelona, Universitat Politecnica de Catalunya, Spain, 2003, 581-584

Skup
7th International Research/Expert Conference "Trends in the Development of Machinery and Associated Technology" TMT 2003

Mjesto i datum
Barcelona, Španjolska; Lloret de Mar, Španjolska, 15.09.2003. - 17.09.2003

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
inverted wedge; pneumatic actuator; state controller; laboratory experiment

Sažetak
The control of the inverted wedge actuated by a cylindrical pneumatic actuator is presented in this paper. The goal of this mechatronic application is to develop a digital controller that can maintain a balance of the wedge in inverted position by moving the cylinder slider across the top of it. This balancing mechanism can be considered as a two degrees-of-freedom planar robot controlled by a single control input (which is the force that accelerates the slider left or right). Because it is an under-actuated system with a non-minimum phase characteristic and nonlinear actuator dynamics, this experimental model offers great possibilities to learn design in a mechatronic way.

Izvorni jezik
Engleski

Znanstvena područja
Strojarstvo

POVEZANOST RADA