期刊名称：International Journal of Advanced Computer Science and Applications(IJACSA)
印刷版ISSN：2158-107X
电子版ISSN：2156-5570
出版年度：2015
卷号：6
期号：8
DOI：10.14569/IJACSA.2015.060807
出版社：Science and Information Society (SAI)
摘要：This research paper presents dynamic modeling of inertial sensor based one degree of freedom (1-DoF) stabilizing platform. Plant is a ball on a pivoted beam. Nonlinear modeling of the plant is done. Ball position on beam is actuated by DC motor using two arms and one beam structure. Arms and beam are linked by pivoted joints. Nonlinear geometrical relations for mechanical structure are derived followed by physically realizable approximations. These relations are used in system dynamic equations followed by linearization, resulting in a linear continuous time differential equation model. State space conversion is done. Final model is simulation and system dynamics are elaborated by analysis of the simulation responses
