Publication: Design of balancing pendulum on a hovercraft
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Date
2012-06-01
Authors
Ismail, Muhamad Abdullah
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Abstract
A hovercraft is an amphibious vehicle that is supported just above the ground or water by air cushion. Hovercraft also can be called as air cushion vehicle. Normally, the hovercraft is unstable and cannot balance of some height object when the hovercraft starts lifting. The object that is known as a pendulum. The project was implemented the Balancing Pendulum on a Hovercraft that having an ability to balance the pendulum towards upright position. The main advantage of this hovercraft is it has more flexibility and maneuverability of pendulum, allowing it during hovercraft lifting. This statically unstable, but dynamically stable mobile robot system involves various physics and control theories. In this project, an inertial measurement unit (IMU) is used and consists of accelerometer and gyroscope measurement in order to estimate and obtain the tilt angle of the pendulum. The height of the pendulum is 38cm. The axis that are use in IMU sensor is Y and Z axis are use to measure the unfiltered pitch angle of the pendulum, while the X-rate is used to measure the angular velocity of the pendulum. Digital Proportional-IntegralDerivative (PID) controller is used to correct the error between the desired set point and the actual tilt angle and adjust the brushless and dc motor speed accordingly to balance the pendulum. From the value of inclination of the pendulum that is collected homogenously, the line chart is constructed to determine the potential of the hovercraft balance the pendulum. The result shows that the stability of the pendulum on a hovercraft hard to be expected and can balance the pendulum in certain time. There are some difficulties and constraint that influenced the consistency of the pendulum in upright position which is vibration, weight, power consumption and acceleration of motor.