| Summary: | 碩士 === 清雲科技大學 === 機械工程研究所 === 95 === The ball and beam system is a common undergraduate control laboratory experiment. Generally, the ball and beam mechanism consists of a beam and a ball on it. The ball is rolling on the beam according to the changing angle of the beam. With our ball and beam like mechanism the ball is replaced by a cart, which slides on the pneumatic cylinder (beam). Here we define this new mechanism as a cart-seesaw system. The cylinder is a double-acting one with carrier bracket on which a cart has been pinion mechanism to tracks. The task of the ball and beam like experiment is to bring the cart to from any initial position to a desired position on the beam by applying an appropriate force to the cart and thereby changing the angle of the beam. The position of a cart represents the first degree of freedom, which is activated by a pneumatic proportional valve and the angle of the beam represents the second degree of freedom that is not actuated. Consequently, the proposed new pneumatic care-seesaw system is simple to construct and direct to operate in different scenarios of performance. A state feedback controller is applied for stabilization of the equilibrium point of the system. Moreover, this work adds a supervisory controller that takes control action in extreme situations. Thus, the test results show excellent characteristics in control performance. The new prototype has developed in the Sensor and Control Laboratory of the Department of Mechanical Engineering of Ching Yun University. However, the proposed product in this paper can be extensively application in ball and beam equipment and pneumatic control for control laboratory.
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