Position control of a seesaw like platform by using a thrust propeller

Abstract

This paper presents the design and position control of a seesaw like supported beam which angular motion is measured by an encoder and controlled by the draft force of a propeller at end of the beam. After the general mechanical design and modelling the system, dynamic equations and parameters are investigated and all parts are drawn in SolidWorks, so that the real weights and inertias for the simulation of the motion and a real implementation with reasonable control application could be done. Classic control algorithms such as P, PI, Pd and PID are applied to the real model with various parameters and the obtained results are compared. On the other hand a MATLAB model of the system is derived and simulation results of this model are then compared with real implementation results. Very closed results approved the success of the model with real implementation.