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Inertia Wheel Pendulum
An inertia wheel pendulum is a pendulum with an inertia wheel attached. It can be used as a pedagogical problem in control theory. This type of pendulum is often confused with the gyroscopic effect, which has completely different physical nature. See also * Inverted pendulum * Robotic unicycle * Spinning top References * Mark W. Spong, Peter Corke Peter Corke (born 24 August 1959) is an Australian roboticist known for his work on Visual Servoing, field robotics, online education, the online Robot Academy and the Robotics Toolbox and Machine Vision Toolbox for MATLAB (matrix laboratory) ..., Rogelio Lozano. Nonlinear Control of the Gyroscopic Pendulum'' Pendulums Control engineering {{classicalmechanics-stub ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pendulum
A pendulum is a weight suspended from a pivot so that it can swing freely. When a pendulum is displaced sideways from its resting, equilibrium position, it is subject to a restoring force due to gravity that will accelerate it back toward the equilibrium position. When released, the restoring force acting on the pendulum's mass causes it to oscillate about the equilibrium position, swinging back and forth. The time for one complete cycle, a left swing and a right swing, is called the period. The period depends on the length of the pendulum and also to a slight degree on the amplitude, the width of the pendulum's swing. From the first scientific investigations of the pendulum around 1602 by Galileo Galilei, the regular motion of pendulums was used for timekeeping and was the world's most accurate timekeeping technology until the 1930s. The pendulum clock invented by Christiaan Huygens in 1658 became the world's standard timekeeper, used in homes and offices for 270 years, and ac ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inertia Wheel
A reaction wheel (RW) is used primarily by spacecraft for three-axis attitude control, and does not require rockets or external applicators of torque. They provide a high pointing accuracy, and are particularly useful when the spacecraft must be rotated by very small amounts, such as keeping a telescope pointed at a star. A reaction wheel is sometimes operated as (and referred to as) a momentum wheel, by operating it at a constant (or near-constant) rotation speed, to provide a satellite with a large amount of stored angular momentum. Doing so alters the spacecraft's rotational dynamics so that disturbance torques perpendicular to one axis of the satellite (the axis parallel to the wheel's spin axis) do not result directly in spacecraft angular motion about the same axis as the disturbance torque; instead, they result in (generally smaller) angular motion ( precession) of that spacecraft axis about a perpendicular axis. This has the effect of tending to stabilize that spacecra ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Control Theory
Control theory is a field of mathematics that deals with the control of dynamical systems in engineered processes and machines. The objective is to develop a model or algorithm governing the application of system inputs to drive the system to a desired state, while minimizing any ''delay'', ''overshoot'', or ''steady-state error'' and ensuring a level of control stability; often with the aim to achieve a degree of optimality. To do this, a controller with the requisite corrective behavior is required. This controller monitors the controlled process variable (PV), and compares it with the reference or set point (SP). The difference between actual and desired value of the process variable, called the ''error'' signal, or SP-PV error, is applied as feedback to generate a control action to bring the controlled process variable to the same value as the set point. Other aspects which are also studied are controllability and observability. Control theory is used in control system eng ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Inverted Pendulum
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is unstable and without additional help will fall over. It can be suspended stably in this inverted position by using a control system to monitor the angle of the pole and move the pivot point horizontally back under the center of mass when it starts to fall over, keeping it balanced. The inverted pendulum is a classic problem in dynamics and control theory and is used as a benchmark for testing control strategies. It is often implemented with the pivot point mounted on a cart that can move horizontally under control of an electronic servo system as shown in the photo; this is called a cart and pole apparatus. Most applications limit the pendulum to 1 degree of freedom by affixing the pole to an axis of rotation. Whereas a normal pendulum is stable when hanging downwards, an inverted pendulum is inherently unstable, and must be actively balanced in order to remain upright; this can be done ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Self-balancing Unicycle
An electric unicycle (often initialized as EUC or acronymized yuke or Uni) is a self-balancing personal transporter with a single wheel. The rider controls speed by leaning forwards or backwards, and steers by twisting or tilting the unit side to side. The self-balancing mechanism uses accelerometers, gyroscopes, and a magnetometer. In 2020, suspension models were introduced by three major manufacturers Begode, Kingsong and Inmotion. Operation Commercial units are self-balancing in a forward and backward direction, with side-to-side (lateral) stability being provided by the steering motions of the rider, similar to Bicycle and motorcycle dynamics. As of 2022, no commercial human-rideable unicycle has lateral self-balancing capabilities. However, a non-ridable, dual-axis self-balancing unicycle was demonstrated in 2012, with small, lightweight robots using a large weighted reaction wheel or control moment gyroscope. The control of a unicycle can be considered to be an inverte ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Spinning Top
A spinning top, or simply a top, is a toy with a squat body and a sharp point at the bottom, designed to be spun on its vertical axis, balancing on the tip due to the gyroscopic effect. Once set in motion, a top will usually wobble for a few seconds, spin upright for a while, then start to wobble again with increasing amplitude as it loses energy, and finally tip over and roll on its side. Tops exist in many variations and materials, chiefly wood, metal, and plastic, often with a metal tip. They may be set in motion by twirling a handle with the fingers, by pulling a rope coiled around the body, or by means of a built-in auger (spiral plunger). Such toys have been used since antiquity in solitary or competitive games, where each player tries to keep one's top spinning for as long as possible, or achieve some other goal. Some tops have faceted bodies with symbols or inscriptions, and are used like dice to inject randomness into games, or for divination and ritual purposes. The ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Peter Corke
Peter Corke (born 24 August 1959) is an Australian roboticist known for his work on Visual Servoing, field robotics, online education, the online Robot Academy and the Robotics Toolbox and Machine Vision Toolbox for MATLAB (matrix laboratory). He is currently director of the Australian Research Council Centre of Excellence for Robotic Vision, and a Distinguished Professor of Robotic Vision at Queensland University of Technology. His research is concerned with robotic vision, flying robots and farming robots. Corke is a Fellow of the Australian Academy of Technological Sciences and Engineering and of the Institute of Electrical and Electronics Engineers. He is a founding editor of the Journal of Field Robotics, and a former member of the executive editorial board of The International Journal of Robotics Research. Career Corke received Bachelor of Engineering, Masters of Engineering and Ph.D. degrees from the University of Melbourne in Australia. In 1984 he worked at ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Pendulums
A pendulum is a weight suspended from a pivot so that it can swing freely. When a pendulum is displaced sideways from its resting, equilibrium position, it is subject to a restoring force due to gravity that will accelerate it back toward the equilibrium position. When released, the restoring force acting on the pendulum's mass causes it to oscillate about the equilibrium position, swinging back and forth. The time for one complete cycle, a left swing and a right swing, is called the period. The period depends on the length of the pendulum and also to a slight degree on the amplitude, the width of the pendulum's swing. From the first scientific investigations of the pendulum around 1602 by Galileo Galilei, the regular motion of pendulums was used for timekeeping and was the world's most accurate timekeeping technology until the 1930s. The pendulum clock invented by Christiaan Huygens in 1658 became the world's standard timekeeper, used in homes and offices for 270 years, and ac ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
