Controls Project: Automatic Platform Stabilizer
Outcome:
Built and modelled a platform that would stabilize whenever a mass is placed at one end. Worked in a team to theoretically design and practically tune a PD controller to stabilize the platform to any perturbation. The controller was designed with pole placement and analyzed using root locus analysis. The system was evaluated on its ability to balance a small cup of water while handling perturbations caused by changes in the initial angle of the platform.
Motivation:
The team and I envisioned a construction scenario wherein our self-balancing platform can provide perturbation-resistant support to improve material transport safety. We aimed to design the fundamental prototype concept behind this, which involved designing a self-balancing platform on wheels travelling along uneven terrain.
Results:
A theoretical transfer function relating the angular displacement (pitch) of the platform to the torque and PWM motor velocity was developed. From there, a PD controller in a closed loop system with gyroscopic feedback was designed, and root locus analysis was used to determine the stability of the controller within our intended range of motion. To test the effectiveness of the controller in the real world, the electromechanical system was built and tested with small items. From these tests, the controller gains had to be fine-tuned for a quick settling time and to minimize overshoot. This project gave me a far deeper appreciation for the complex analysis that takes place even for simple controllers that deal with standard second-degree systems.
Project Details: