0000000000459206
AUTHOR
Per Magne Egelid
Modeling, simulation, and testing of constant tension system on winch
Masteroppgave i mekatronikk MAS500 2011 – Universitetet i Agder, Grimstad Here we present a dynamical simulation of a hydraulic constant tension [CT] system in SimulationX. The purpose of the simulation is to check the similarity of the simulated system and the real system. The real system is a 10 ton winch with CT function where the results from this test are compared with the results of the simulated system. We have successfully tested the winch system with CT function. This was done using pressure transmitters and flow sensors placed on the hydraulic motor blocks in combination with a load cell and a winch encoder to measure its behavior. All data from these sensors were logged and saved…
LQG Control Design for Balancing an Inverted Pendulum Mobile Robot
Author's version of an article published in the journal: Intelligent Control and Automation. Also available from the publisher at: http://dx.doi.org/10.4236/ica.2011.22019 The objective of this paper is to design linear quadratic controllers for a system with an inverted pendulum on a mobile robot. To this goal, it has to be determined which control strategy delivers better performance with respect to pendulum’s angle and the robot’s position. The inverted pendulum represents a challenging control problem, since it continually moves toward an uncontrolled state. Simulation study has been done in MATLAB Simulink environment shows that both LQR and LQG are capable to control this system succe…