Implementation of Dynamic Control of a Single-Link Flexible Arm Using a General Micro-Computer

Abstract

The purpose of this thesis is the implementation of a dynamic control of a single-link flexible arm and experimentation with various parameters to study the dynamic behavior of the control system. The tip position was determined by the outputs of a potentiometer and a strain gage. Data acquisition was performed using Data Translation high speed interface board (DT 2821-F-8DI). The board supports sixteen twelve bit A/D input channels with a maximum usable sampling rate of 130 kilohertz. The micro-computer used was the standard IBM AT. The support software (AT0-LAB) allowed direct manipulation of the data acquisition board through the use of provided subroutines which were compatible with FORTRAN, the language chosen to implement the controller. Keywords: High speed; Low weight.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1988
Accession Number
ADA201622

Entities

People

  • Michael Kirkland

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • C4I

DTIC Thesaurus Topics

  • Acquisition
  • Actuators
  • Computer Programs
  • Computer Simulations
  • Computers
  • Control Systems
  • Data Acquisition
  • Differential Equations
  • Engineering
  • Equations
  • Equations Of Motion
  • Language
  • Mainframe Computers
  • Mechanical Engineering
  • Mechanics
  • Strain Gages
  • United States

Readers

  • Aerospace Test and Evaluation
  • Computer Science.
  • Database Systems and Applications