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Unformatted text preview: University of California, Santa Barbara Department of Electrical & Computer Engineering ECE 147b: Digital Control Lab 4: Balancing the Seesaw Overview In this lab you will use the tools developed in the class to design and implement a stabilizing controller for the seesaw system shown in Figure 1. M o to rC a rtandT ra ck S ee sawM odu le Figure 1: Seesaw System Modeling To develop the model of the seesaw system, we will use Euler-Lagrange Mechanics. Any good dynamics book should include a treatment of the Euler-Lagrange methodology. First, we define the kinetic and potential energies for the two elements comprising our system (the motor cart and the seesaw). The potential and kinetic energies for the cart are (respectively): U c = m c g ( h cos( θ )- p sin( θ )) K c = 1 2 m c parenleftBig ( ˙ p + h ˙ θ ) 2 + ( p ˙ θ ) 2 parenrightBig . 2 ECE147b: Lab #4 m c F p m s ;J h c Figure 2: Seesaw System Diagram used for Euler-Lagrange Mechanics The potential and kinetic energies for the seesaw are:...
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This note was uploaded on 04/06/2010 for the course ECE 145 taught by Professor Rodwell during the Spring '07 term at UCSB.
- Spring '07