Development of a Stabilized Wideband Pendulum-Type Gravity Direction Sensor Utilizing Electromagnetic Clutch and Brake for Anti-Swing

• Autorzy: Okada T. , Tsuchida A. , Mukaiyachi T. , Shimizu T.
• Języki publikacji: EN

Abstrakty

EN

This paper proposes the usefulness of combining an electromagnetic clutch and brake with a pendulum for antiswing for developing a stabilized wideband pendulum-type gravity direction sensor. The pendulum-type sensor is high in response to direction change but liable to swing even when the change stops, in general. Therefore, anti-swing control without degrading sensitivity of direction measurement is important. Continuous damping of the pendulum motion causes an error in a stationary condition unless the pendulum is free from damping repetitively in an appropriate term. To develop a quick response direction sensor without error, we use a magnetic device. Based on motion analysis of a double pendulum, we simulate behaviours of the pendulum-type sensor by actuating the magnetic device by using different signals in form, frequency and magnitude. Also, we fabricate a motion simulator having two rotation joints to evaluate the anti-swing effect of the magnetic device. In the experiment we demonstrate that the device is beneficial for suppressing pendulum vibration over a wideband for measuring resultant direction of the acceleration compound with motion and gravity on such a platform moving randomly. Also, we show that a triangular signal is better than a sinusoidal signal for making the settling time short; however difference is within a narrow margin.

Słowa kluczowe

EN

anti-swing; electromagnetic clutch and brake; gravity direction sensor; pendulum; inclinometer

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2008
• Tom: Vol. 2, No. 4
• Strony: 45--51
• Opis fizyczny: Bibliogr. 13 poz., rys.

Twórcy

autor

Okada T.

autor

Tsuchida A.

autor

Mukaiyachi T.

autor

Shimizu T.

• Niigata University, Department of Biocybernetics, Ikarashi 2-8050, Niigata-Shi, Japan 950-2181,

Bibliografia

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