A self-balance system for naval operation vehicles

International Conference on Mechanical Engineering Research and Application

Kuo, C.S.^1 ; Lee, F.C.^1 ; Huang, C.Y.^1 ; Chu, H.C.^1 ; Cheng, C.C.^1

Department of Mechanical and Electro-Mechanical Engineering, University National Sun Yat-Sen, 70 Lianhai Rd., Kaohsiung

804, Taiwan^1

关键词: External disturbances;    Feedback control schemes;    Field experiment;    High Degree of Freedom;    Inertial measurement unit;    naval;    operation;    Self-balanced;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/494/1/012108/pdf
DOI  :  10.1088/1757-899X/494/1/012108

来源: IOP

【 摘 要 】

For the purpose of maintaining the balance of the deck of naval vehicles while they are maneuvering on the water surface, a simple mechanism with a feedback control scheme is designed to detect and compensate the external disturbances. To avoid complex mathematical modeling for high degree-of-freedom mechanism, a simplified mechanism adopted from the novel Stewart and delta designs is developed. Incorporating with the inertial measurement unit (IMU), the proposed framework is able to drive the mechanism by servomotors to achieve the goal of balancing the vessel deck by detecting instant three-axis attitude data. Field experiments performed at a swimming pool demonstrated outstanding performance in deck balance by suppressing external disturbance from the wave.