Ball-and-beam laboratory system controlled by Simulink model through dedicated microcontrolled-Matlab data exchange protocol

• Autorzy: Nowopolski K.
• Języki publikacji: EN

Abstrakty

EN

A ball balancing on a beam is a perfect platform for demonstration various control strategies. The task is to place ball rolling freely, in a reference position along the beam driven by a motor, rejecting disturbances. The research system consists of mechanical platform with stepper motor and two infrared ball position sensors, power supply and electronic controller based on a 32-bit microcontroller connected to Matlab/Simulink software running the main control algorithm. Designed in Simulink input and output subsystem blocks contain all functions required to provide data exchange with microprocessor controller of the mechanical system. Developed data exchange protocol and its implementation both in microcontroller software and Simulink subsystems allow to use this complete system for educational purposes: the controller designer is free to develop supervisory control layer, not going into details of system operation. The results of system operation with P, PD and LQR control laws are shown at the end of this paper.

Słowa kluczowe

EN

beam-and-ball; interface; MATLAB; Simulink; stepper motor; SimMechanics; linear position control; microcontroller; 32-bit microcontroller; LQR control law

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Computer Applications in Electrical Engineering
• Rocznik: 2013
• Tom: Vol. 11
• Strony: 310--320
• Opis fizyczny: BIbliogr. 5 poz., rys.

Twórcy

autor

Nowopolski K.

• Poznań University of Technology, 60-965 Poznań, ul. Piotrowo 3a

Bibliografia

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