A Supervisory Control Methodology for a New Pneumatic Cart-Seesaw System

This paper describes mechanical configuration and control environment for a new cart-seesaw system. The system consists of a cart, which slides on the pneumatic rodless cylinder. The rodless cylinder is a double-acting one with carrier bracket on which a cart has been pinion mechanism to tracks. The task of the cart-seesaw system is to bring the cart to from any initial position to a desired position on the seesaw by applying an appropriate force to the cart and thereby changing the angle of the seesaw. The position of a cart represents the first degree of freedom, which is activated by a pneumatic proportional valve and the angle of the seesaw represents the second degree of freedom that is not actuated. Consequently, the proposed new pneumatic cart-seesaw system is simple to construct and direct to operate in different scenarios of performance. A state feedback controller is applied for stabilization of the equilibrium point of the system. Moreover, this work adds a supervisory controller that takes control action in extreme situations. Thus, the test results show excellent characteristics in control performance. Finally, the proposed product in this research can be extensively application in SAMS and pneumatic control for control laboratory.