Design a control system to balance a seesaw using a sliding powered mass.
A rotating seesaw is mounted on an instrumented fulcrum. A powered cart is mounted on the seesaw to travel freely along the length of the seesaw. The solid aluminum cart is driven by a rack and pinion mechanism using a 6V DC motor, ensuring consistent and continuous traction. The cart slides along a stainless steel shaft using linear bearings. The cart position is measured using a sensor coupled to the rack via an additional pinion.
The goal is to design a controller that maintains the seesaw balance by driving the cart back and forth along the seesaw. The system is supplied with a state feedback controller. You may design any other controller you wish.
Undergraduate – second course / Graduate / Project / Research
Flexible Joint with Inverted Pendulum
Linear Double Inverted
Linear Flexible Inverted Pendulum
Linear Flexible Joint on Seesaw