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Quanser |
High Wire Walker
Challenge:
Design a control system to balance the high wire
walker.
Description:
The high wire walker experiment (HWW) is a system,
which is dynamically equivalent to the tightrope circus walker. It
consists of a body that resembles an "inverted obelisk" with
a sharp bottom making it unstable in the vertical position. A motor
is mounted to the body which can apply a torque to a long beam mounted
in front of the body. The moment of inertia of the stick is much higher
than the body and can thus be used as a "fixed" inertial
frame against which the torque applied by the motor can be used to
keep the body upright. The fall of the body relative to the vertical
axis however cannot be measured. An instrumented pendulum mounted to
the body swivels as the body falls and is used to estimate the fall
of the body relative to the vertical axis. Although the dynamics of
the pendulum movements are very different from the falling body, an
observer (Kalman filter) has been designed to estimate the body angle
relative to the vertical axis. The observer state and the measured
states are then utilized to stabilize the entire structure.
Difficulty:
Undergraduate advanced / Graduate / Research
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