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Subject: PID in Self Stablising Platform

Date: 02/14/01 at 4:21 PM
Posted by: Ben Bowler
E-mail: benbowler@btinternet.com
Message Posted:

I am wanting to design the control system for a self stablising platform, for use in, for example, a cross channel ferry.

Possible design solutions include a clinometer for asessing angular displacement, and actuators for correction. Comparators do not work ideally, due to the few-millivolt switching 'distance'.

PID controllers may work, but i do not fully understand the concept behind them. Can anyone help? ideally, I want to take the voltage from the clinometer (when table is horizontal, 6V will be given out, thus 6V will be set as the reference voltage), apply this to the PID, then get a useful error voltage out that can be used to directly drive a motor of some sort.

I have got circuits working with the simple op-amp comparator, but because of the application the table will vibrate around the eqm position, which is undesirable. I am aiming to use analogue componants, but will consider AD conversion etc.

I thank you in advance for any help on this matter

Ben Bowler


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