{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/31604"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/31604","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Position Control Comparison of Equilibrated and Mass Counterweight Systems","abstract":"In robotic systems, reduction of inertia is a key concern. One way to reduce the system inertia is to replace counterbalance masses with an equilibrator, which is a force element like a spring. Although there has been much research on equilibrated mechanisms, there has not much research on the control of these mechanisms. This thesis explores the PID control of equilibrated systems, and compares the results to the PID control of a common method of equilibration, the mass counterweight. Through modeling, simulating, and testing of the two systems, the equilibrated system response was found to be superior to the mass counterweight in measures of settling time and peak overshoot.","abstract_html":"In robotic systems, reduction of inertia is a key concern. One way to reduce the system inertia is to replace counterbalance masses with an equilibrator, which is a force element like a spring. Although there has been much research on equilibrated mechanisms, there has not much research on the control of these mechanisms. This thesis explores the PID control of equilibrated systems, and compares the results to the PID control of a common method of equilibration, the mass counterweight. Through modeling, simulating, and testing of the two systems, the equilibrated system response was found to be superior to the mass counterweight in measures of settling time and peak overshoot.","abstract_has_math":false,"creators":["Carr, Angela Sara"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Reinholtz, Charles F."],"committee_members":["Leo, Donald J.","Saunders, William R."],"year":2001,"date_issued":"2001-03-30","date_published":"2001-03-30","updated_at":"2026-07-22T22:20:37Z","subjects":["Equilibrator","Dynamic Model","Control"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-04022001-110522"],"render_values":[{"text":"etd-04022001-110522","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/31604","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Reinholtz, Charles F."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Leo, Donald J.","Saunders, William R."]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Carr, Angela Sara"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:33:04Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:33:04Z","2002-04-03"]},{"key":"dc:date.issued","label":"Date","values":["2001-03-30"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Equilibrator","Dynamic Model","Control"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-04022001-110522"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/31604"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["In robotic systems, reduction of inertia is a key concern. One way to reduce the system inertia is to replace counterbalance masses with an equilibrator, which is a force element like a spring. Although there has been much research on equilibrated mechanisms, there has not much research on the control of these mechanisms. This thesis explores the PID control of equilibrated systems, and compares the results to the PID control of a common method of equilibration, the mass counterweight. Through modeling, simulating, and testing of the two systems, the equilibrated system response was found to be superior to the mass counterweight in measures of settling time and peak overshoot."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:title","label":"Title","values":["Position Control Comparison of Equilibrated and Mass Counterweight Systems"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Reinholtz, Charles F."],"dc:contributor.committeemember":["Leo, Donald J.","Saunders, William R."],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Carr, Angela Sara"],"dc:date.accessioned":["2014-03-14T20:33:04Z"],"dc:date.available":["2014-03-14T20:33:04Z","2002-04-03"],"dc:date.issued":["2001-03-30"],"dc:description.abstract":["In robotic systems, reduction of inertia is a key concern. One way to reduce the system inertia is to replace counterbalance masses with an equilibrator, which is a force element like a spring. Although there has been much research on equilibrated mechanisms, there has not much research on the control of these mechanisms. This thesis explores the PID control of equilibrated systems, and compares the results to the PID control of a common method of equilibration, the mass counterweight. Through modeling, simulating, and testing of the two systems, the equilibrated system response was found to be superior to the mass counterweight in measures of settling time and peak overshoot."],"dc:description.degree":["Master of Science"],"dc:identifier.other":["etd-04022001-110522"],"dc:identifier.uri":["http://hdl.handle.net/10919/31604"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Equilibrator","Dynamic Model","Control"],"dc:title":["Position Control Comparison of Equilibrated and Mass Counterweight Systems"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:37Z"}