Attitude Control of a Rhoenrad by Internal Mass Motion

摘要

Rhoenrad is a gymnastic equipment that is interesting in terms of dynamics and control. The control method of the Spiral motion by the mass motion in the Rhoenrad was clarified. First, the condition for a steady Spiral motion with arbitrary mass position was obtained. Then, by using the linearized equation of motion, the control method to control the attitude of the Rhoenrad by the mass motion in it was derived. This control method allows the state of the Rhoenrad to be changed from one steady Spiral motion to another steady motion.