Control of a ball-and-plate system using a State-feedback controller
ABSTRACT A ball-and-plate platform is a common example of the dynamical system used to apply modeling and control concepts studied in some engineering courses. In this kind of systems, a spherical body is positioned on a mobile plate with two degrees of freedom. The system is operated by two servo m...
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| Autores principales: | , , |
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| Lenguaje: | English |
| Publicado: |
Universidad de Tarapacá.
2020
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| Materias: | |
| Acceso en línea: | http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052020000100006 |
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| Sumario: | ABSTRACT A ball-and-plate platform is a common example of the dynamical system used to apply modeling and control concepts studied in some engineering courses. In this kind of systems, a spherical body is positioned on a mobile plate with two degrees of freedom. The system is operated by two servo motors that cause displacement of the sphere in the x and y axis in the plane of the platform. It is known that such a system is highly unstable and non-linear. Initially, from a phenomenological analysis we obtained a state-space representation of the system. Then, a state feedback controller using the pole assignment method was designed to maintain a desired position of the sphere over the plane. A computer vision technique allowed us measuring the two-dimensional position of the sphere over the plane in real time. Model of the plant under study and controller design for sphere positioning were experimentally validated considering different set-points. Obtained results let us know that our plant-controller is stable and responds satisfactorily to position disturbances around a reference point. |
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