An attitude control and stabilization of an unstructured object using balancing beam, new construction machinery

In this study, the CMG (control moment gyro) subsystem, a new type of construction machinery using the mechanism of CMG, for the attitude control of an unstructured object such as a beam carried by a tower crane, is designed and implemented. The CMG subsystem consists of one motor for spinning the wheel, and the other motor for turning the outer gimbal. As an input of the system, applying force to the spin axis of the wheel leads the torque about the axis, whereas the wheel is spinning at high speed. This torque is used to control the attitude of the unstructured object in this study. For the stabilizer function, in addition, holding the load at the current position, the power applied to the gimbal motor of CMG will be cut, which results in a braking force to stop the load by the gyro effect. The CMG subsystem the authors developed consists of the mechanical system, a remote controller, a servo controller and control software for the system. The authors also present experimental results to show that the system they proposed is useful as construction machinery which can control the attitude of the beam hanging from a tower crane.