Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Angular control of a rotating platform using two reaction wheels
Submission Author:
Márcio Fernandes Pires Andrade dos Santos , SP , Brazil
Co-Authors:
Márcio Fernandes Pires Andrade dos Santos, Bruno Santos, Rafael Bachega, ALEXANDRE CAMPO
Presenter: ALEXANDRE CAMPO
doi://10.26678/ABCM.COBEM2017.COB17-2773
Abstract
The purpose of this paper is to present an angular control of a rotating platform through the use of two reaction wheels. Space vehicles and satellites usually have reaction wheels for stabilization because this type of equipment is cheaper and more accurate than gas jet. This kind of angular control system may be used in robots as well. The platform was built using a stainless steel base and bearings, BLDC motors connected with two masses representing the reaction wheels. A torque generated by the acceleration of these motors rotates the platform, and an inertial measurement unit (IMU) measures the angular position data of platform. A Proportional Integral control algorithm was adjusted analytically and was embedded on a microcontroller in order to control the angular position of the system in a closed loop.
Keywords
Position Control, Angular Momentum Conservation, Reaction wheel, Balancing System
