Showing papers on "Ball and beam published in 2014"

Integrating Servo-Pneumatic Actuator with Ball Beam System based on Intelligent Position Control

Abstract: The purpose of this paper is to design a controller that can control the position of the cylinder pneumatic stroke. This work proposes two control approaches, Proportional-Integral-Derivative Fuzzy Logic (Fuzzy-PID) controller and Proportional-Derivative Fuzzy Logic (PD-Fuzzy) controller for a Servo-Pneumatic Actuator. The design steps of each controller implemented on MATLAB/Simulink are presented. A model based on position system identification is used for the controller design. Then, the simulation results are analyzed and compared to illustrate the performance of the proposed controllers. Finally, the controllers are tested with the real plant in real-time experiment to validate the results obtained by simulation. Results show that PD-Fuzzy controller offer better control compared to Fuzzy-PID. A Pneumatic Actuated Ball & Beam System (PABBS) is proposed as the application of the position controller. The mathematical model of the system is developed and tested simulation using Feedback controller (outer loop)-PD-Fuzzy controller (inner loop). Simulation result is presented to see the effectiveness of the obtained model and controller. Results show that the servo-pneumatic actuator can control the position of the Ball & Beam system using PD-Fuzzy controller.

볼-빔 시스템에서 ac와 dc 노이즈가 포함된 상태 궤환 제어기 설계 및 분석

Abstract: In this paper, we propose a controller for a ball and beam system which reduces the measurement error effect under AC and DC noise. The ball and beam system measures data through a sensor. If sensor noise is included in a controller via the feedback channel, the signal is distorted and the entire system cannot work normally. Therefore, some appropriate action for the measurement error effect is essential in the controller design. Our controller is equipped with a gain-scaling factor and a compensator to reduce the effect of measurement error in the feedback signal. Effectively, our proposed controller can reduce the AC and DC noise of a feedback sensor. We analyze the proposed controller by Laplace transform technique and illustrate the improved control performance via an experiment for a ball and beam system.

Optimal PID controller for Ball and Beam system

Abstract: In this paper, PID controller is designed for Ball and Beam system using Genetic Algorithm and Differential Evolution. The analysis shows that the Differential Evolution algorithm is better in comparison to Genetic algorithm with respect to speed of convergence and performance index. Further, it is also observed that the controller design based on Differential Evolution shows faster disturbance rejection in comparison to Genetic algorithm. All the results are simulated in Matlab environment.

임펄스 측정잡음에 강인한 저가형 볼앤빔 시스템의 접촉식 볼 추적센서 개발

Abstract: This paper proposes a new contact type ball tracking sensor to improve the control performance of a low cost ball-and-beam system. It is well-known that the impulsive measurement noise contained in ball position measurement is one of the factors which severely degrades the ball-and-beam control performance. The impulsive ball position measurement noises often appear under the sporadical ball floating on the beam. This fact motivates us to devise a simple analog preprocessing circuit to determine whether the ball loses the contact or not. Once the abnormal ball position measurement is detected, the design problem of the ball tracking sensor can be cast into the typical state estimation problem with missing data. In order to tackle the real-time implementation issue, a steady-state Kalman filter is applied to the problem. Through the experimental results, the usefulness of the proposed scheme is demonstrated.

Tuning and implementation of fuzzy logic controller using simulated annealing in a nonlinear real-time system

Abstract: Tuning a controller for any process purely depends on the process dynamics. Improper selection of controller parameters could spoil the entire design. Selecting a tuning technique to achieve a desired response could be dealt as an optimization problem. This paper deals with the tuning of a fuzzy logic controller using Simulated Annealing to minimize the Mean Square Error between the desired and actual output of a nonlinear system. The proposed algorithm is tested on a real time ball beam system and the results are compared with the simulated responses. By using this method best results are obtained by using less number of fuzzy membership functions.

Sintonización de un controlador PID basado en un algoritmo heurístico para el control de un Ball and Beam

Abstract: Tuning of Proportional + Integral + Derivative controllers (PID) is not trivial and although there are several studies to tune these controllers, it seems not to have been solved the problem of a technique that can be implemented in several systems, eg. classical tuners are limited to systems which are stable in open loop or intelligent methods such as neural networks are limited to computing resources. Therefore, in this thesis, heuristic algorithms are presented as tools robust for tuning PID controllers in the sense that they can be adapted to various systems and require little computational resources compared to neural networks. In the first stage, two heuristic algorithms for tuning PID controllers are presented: the genetic algorithm (GA) and particle swarm optimization (PSO) which according to litera-ture, both present satisfactory results for tuning PID controllers. To test these algorithms, the Ball and Beam system with the following characteristics was used: nonlinear, open-loop unstable and underactuated. This system has cascaded controllers and not abrupt control actions. For these features the Ball and Beam system is capable of manifesting the proposed algorithms. For second part of this work, the experimental implementation of the PSO algorithm is presented, showing better results than GA. Subsequently the experimental results are shown.

Design of Controllers for Dual-Motor Ball and Beam System

Abstract: This paper presents the design of controllers for a dual-motor ball and beam system and simulation of the system using MATLAB SIMULINK. The control of Dual Motor Ball and Beam (DMBB) system is proposed which is a best example for a non-linear system. In the Dual Motor Ball and Beam (DMBB) system, the output (the ball position) increases without limit for a fixed input (beam angle). The controller’s job is to regulate the position of the ball on the beam by changing the angle of the beam. Controllers are designed for this system so that the ball's position can be manipulated. In this work, we have adopted a linear model and each motor’s angular position is controlled by PD controller which is designed using root locus technique, while the ball position is controlled by an outer lead compensation loop which is designed using MATLAB SISO TOOL.

Control design and robustness analysis of a ball and plate system by using polynomial chaos

Abstract: In this paper, we present a mathematical model of a ball and plate system, a control law and analyze its robustness properties by using the polynomial chaos method. The ball rolls without slipping. There is an auxiliary robot vision system that determines the bodies' positions and velocities, and is used for control purposes. The actuators are to orthogonal DC motors, that changes the plate's angles with the ground. The model is a extension of the ball and beam system and is highly nonlinear. The system is decoupled in two independent equations for coordinates x and y. Finally, the resulting nonlinear closed loop systems are analyzed by the polynomial chaos methodology, which considers that some system parameters are random variables, and generates statistical data that can be used in the robustness analysis.

Fuzzy LMI servo controller for uncertain ball and beam system

Abstract: This paper describes the design of a fuzzy logic controller for ball and beam system based on linear matrix inequality (LMI) techniques The uncertain ball and beam system is represented by a simplified Takagi-Sugeno (TS) fuzzy model Parallel distributed compensation (PDC) technique is then used to design control gains for fuzzy regions The convex fuzzy summation of these gains is found to stabilize the system for various initial conditions The stabilizing loop is restructured as servo loop afterwards to track the reference commands MATLAB simulations are performed to validate the proposed controller for ball and beam system with parametric uncertainty where it is also compared with pole placement controller

Fractional Order Feedback Control of a Ball and Beam System

Abstract: In this paper, fractional order feedback control of a ball beam model is investigated. The ball beam model is a particular example of the double Integrator system having strongly nonlinear characteristics and unstable dynamics which make the control of such system a challenging task. Most of the work in fractional order control systems are in theoretical nature and controller design and its implementation in practice is very small. In this work, a successful attempt has been made to design a fractional order PIλDμ controller for a benchmark laboratory ball and beam model. Better performance can be achieved using a fractional order PID controller and it is demonstrated through simulations results with a comparison to the classic PID controller.

Simulation of holonomic mechanical systems by means of automatic differentiation

Abstract: We discuss both the theoretical framework and implementation issues for the simulation of holonomic mechanical systems using automatic differentiation. Our approach allows the direct simulation of such systems based on its Lagrangian. The Lagrangian may be given as explicit equations or as an algorithm containing control structures such as loops. The method is illustrated by the well-known ball and beam system.

Nonlinear Ball and Beam Control System Identification

Abstract: The Ball and Beam system is a common didactical experiment in control laboratories that can be used to illustrate many different closed-loop control techniques. The plant itself is subjected to many nonlinear effects, which the most common comes from the relative motion between the ball and the beam. The modeling process normally uses the lagrangean formulation. However, many other nonlinear effects, such as non-viscous friction, beam flexibility, ball slip, actuator elasticity, collisions at the end of the beam, to name a few, are present. Besides that, the system is naturally unstable. In this work, we analyze a subset of these characteristics, in which the ball rolls with slipping and the friction force between the ball and the beam is non-viscous (Coulomb friction). Also, we consider collisions at the ends of the beam, the actuator consists of a (rubber made) belt attached at the free ends of the beam and connected to a DC motor. The model becomes, with those nonlinearities, a differential inclusion system. The elastic coefficients of the belt are experimentally identified, as well as the collision coefficients. The nonlinear behavior of the system is studied and a control strategy is proposed.

Ball & beam control system using matlab and lego nxt

Abstract: The LEGO Mindstorms NXT, are being used today in graduate and undergraduate courses especially on issues related to robotics and control, but in other engineering issues, such as data acquisition and signal filtering can be easily used to strengthen the understanding of those concepts in the labs . These practices require physical educational tools should be inexpensive, easy to use and multi -purpose application form that encourages student learning. In the present study we use only LEGO Mindstorms NXT (Ball & Beam) as a training platform, but not imitating the same commercial kits approach because it presents a typical problem of ball and beam control. The prototype was built and instrumented with sensors and actuators LEGO standard for subsequent modeling, identification and simulation using the Matlab R software. Three controllers were designed, the first is a cascade control and the other two are state space observer’s control (feedback: proportional and integral). Once simulated controllers are implemented in software using BricxCC prototype, where the results were satisfactory, showing the balance of the ball to the three controllers, each different features presented in steady state and a settling time that varies between 1.5 and 3 seconds

Cascade Fuzzy Neural Network Control for Ball and Beam Systems

Abstract: In this paper, a ball and beam experiment platform is considered. Based on a fuzzy neural network (FNN), a desired positioning controller can be obtained subject to extraneous disturbances. A FNN structure not only preserves the fuzzy linguistic description logic, but also has the parameter-learning capability of neural networks. In this paper, a cascaded inner-outer loop scheme is constructed for the ball and beam system, where the controller parameters of the inner loop FNN can be adaptively tuned using gradient decent method. Simulation and experimental results indicate that the proposed cascade FNN control scheme can provide better robust responses.

Servo control of an under actuated system using antagonistic shape memory alloy

Abstract: This paper presents the design, modelling and, simulation and experimental results of a shape memory alloy (SMA) actuator based critical motion control application. Dynamic performance of SMA and its ability in replacing servo motor is studied for which the famous open loop unstable balancing ball and beam system direct driven by antagonistic SMA is designed and developed. Simulation uses the mathematical model of ball and beam structure derived from the first principles and model estimated for the SMA actuator by system identification. A PID based cascade control system consisting of two loops is designed and control of ball trajectory for various target positions with settling time as control parameter is verified experimentally. The results demonstrate the performance of SMA for a complicated i.e., under actuated, highly nonlinear unstable system, and thereby it\'s dynamic behaviour. Control strategies bring out the effectiveness of the actuator and its possible application to much more complex applications such as in aerospace control and robotics.

SMT-Based Bounded Model Checking of Fixed-Point Digital Controllers

Abstract: Digital controllers have several advantages with respect to their flexibility and design's simplicity. However, they are subject to problems that are not faced by analog controllers. In particular, these problems are related to the finite word-length implementation that might lead to overflows, limit cycles, and time constraints in fixed-point processors. This paper proposes a new method to detect design's errors in digital controllers using a state-of-the art bounded model checker based on satisfiability modulo theories. The experiments with digital controllers for a ball and beam plant demonstrate that the proposed method can be very effective in finding errors in digital controllers than other existing approaches based on traditional simulations tools.

Design and Analysis of a State Feedback Controller for a Ball and Beam System under AC and DC Noise

Abstract: In this paper, we propose a controller for a ball and beam system which reduces the measurement error effect under AC and DC noise The ball and beam system measures data through a sensor If sensor noise is included in a controller via the feedback channel, the signal is distorted and the entire system cannot work normally Therefore, some appropriate action for the measurement error effect is essential in the controller design Our controller is equipped with a gain-scaling factor and a compensator to reduce the effect of measurement error in the feedback signal Effectively, our proposed controller can reduce the AC and DC noise of a feedback sensor We analyze the proposed controller by Laplace transform technique and illustrate the improved control performance via an experiment for a ball and beam system Keywords: ball and beam system, input-output feedback linearization, measurement error, gain-scaling factor, compensator I 서론 볼-빔(ball and beam) 시스템은 모터와 빔이 연결되어 모터의 제어를 통해 볼의 위치를 제어하는 시스템이다 로봇, 선박 및 비행체의 자세 제어 등에 기본이 되는 볼-빔 시스템은 비선형적인 요소를 포함하고 있기 때문에 불안정한 시스템의 안정화에 다양하게 응용이 가능하다[7] 볼-빔 시스템은 센서를 통해 데이터들을 측정하고 시스템이 동작하게 되는데 센서 잡음이 포함되면 궤환(feedback) 신호를 왜곡시키고 이로 인하여 볼-빔 시스템이 정상적으로 작동할 수 없게 만든다[5] 따라서 이러한 측정 노이즈에 대한 영향을 최소화 하기 위해 센서 잡음이 포함된 데이터들을 분석 처리하는 적절한 조치가 필수적이다[2,3,8] 기존의 논문 [4,9]에서는 볼-빔 시스템에서 저역 통과 필터를 추가하여 AC 측정 노이즈를 최소화 시켰다 하지만 우리의 경우는 AC 측정 노이즈 뿐만 아니라 DC 측정 노이즈가 함께 포함된 볼-빔 시스템을 다루었다 이와 관련된 연구는 [6]에서 AC와 DC측정 노이즈가 포함된 상태 변수에 이득조절 요소(gain-scaling)와 보상기(compensator)를 적용한 상태 궤환 제어기로 측정 노이즈를 최소화 시켰다 또한 스위칭 제어 기법을 혼용하여 제어기의 수렴속도를 개선 하였다 본 논문에서는 볼-빔 시스템의 위치 센서에 AC와 DC 측정 노이즈가 발생함을 가정한다 볼-빔 시스템에 입-출력 궤환 선형화(input-output feedback linearization) 기법을 통하여 시스템의 비선형적인 요소를 선형화 시킨 후 이득조절 요소와 보상기를 적용한 제어기를 설계한다 그리고 위치센서에 잡음이 포함되어 임의의 AC와 DC 측정 노이즈가 발생함을 가정하였다 AC 측정 노이즈는 미지의 정현파 함수로, DC 측정 노이즈는 알 수 없는 상수 값으로 나타남을 가정하고 볼-빔 시스템에 제안된 제어기를 적용하였다 또한 추가적으로 스위칭 제어 기법을 적용하여 수렴속도를 개선하였다[10] 따라서 이득조절 요소와 보상기가 추가된 상태 궤환 제어기는 출력인 볼의 위치의 최종 수렴범위(ultimate bound)를 최소화 하였다 제안된 제어기가 인가된 볼-빔 시스템을 라플라스 변환 기법으로 분석을 하였고 실제 볼-빔 시스템에 적용하여 제어기의 성능을 실험을 통해 검증하였다 II 볼-빔 시스템의 입-출력 궤환 선형화 그림 1은 실험에 사용된 QUANSER사의 BB011(ball-beam)과 SRV02(DC Servo motor)로 제어입력인 SRV02의 입력전압을 조절하여 모터의 각을 변화시키고 다시 모터의 각은 빔의 각을 변화시킴으로써 볼의 위치를 제어하는 시스템이다 볼-빔 시스템의 동역학 방정식은 다음과 같다[7,11] sin1r K

Position control using fuzzy-based controller for pneumatic-servo cylinder in ball and beam application

Abstract: Pneumatic actuator is widely used in the automation industry and in the field of automatic control due to its advantages such as high power to weight ratio, costeffective and uses air as a clean medium to drive it. However, pneumatic actuator also has some drawback in control due to the nonlinear factors such as air compressibility and friction. Therefore, the purpose of this research is to design a controller that will control the position of the cylinder pneumatic stroke. Fuzzy Logic Control is proposed because of its simplicity in terms of less mathematical equation and also its performance in controlling the nonlinearities. Three different types of Fuzzy Logic controller were designed and compared to observe the performance of the controller in controlling the pneumatic actuator. An optimization method of the Particle Swarm Optimization (PSO) algorithm is used in tuning the fuzzy control parameter. PSO is used to find the best value of the parameter involved in the controller design. Both controllers and optimization method are designed using MATLAB/Simulink platform from position transfer function obtained by System Identification (SI) technique. Then, the simulation results are analyzed and validated with real-time experiment using the Data Acquisition (DAQ) card. The experiment has been done to the pneumatic actuator with different loads and positions target. A Pneumatic Ball and Beam System (PABBS) is proposed as the application of the position controller. The mathematical model of the system is developed and tested with simulation and experiments for its fast response and stability in controlling the ball movement. Results show that Proportional-Derivative Fuzzy Logic Controller (PD-Fuzzy) offers better control compared to other controllers in terms of stability and robustness for the pneumatic actuator and cascaded PD-Fuzzy controller gives better control compared with position and rate feedback controller for the PABBS application.

The Dynamic Swing-Up Control of Ball and Beam System Based on Periodic Input

Abstract: This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text. In this paper, the motion of the ball and beam system based on periodic input is studied, the chaos of the system is discussed , and the relationship of the chaos and the input parameters is analyzed . on the premise of avoiding chaos, the trajectory motion law of points with suitable oscillation parameters is studied in the poincare cross-sectional view. And the swing-up control law of ball and beam system is submitted, it consists of such three parts: increasing the range of swing , adjustment and maintain constant swing .Finally, the simulations result is given to verify the efficiency of control law.

Modeling and Analysis of a Ball and Beam System Including Impacts and Dry Friction

Abstract: The Ball and Beam system is a common didactical plant that presents a complex nonlinear dynamics. This comes from the fact that the ball rolls over the beam, which rotates around its barycenter. In order to deduce the system’s equations, composition of movement must be applied, using a non-inertial reference frame attached to the beam. In the Literature, a common hypothesis is to suppose that the ball rolls without slipping. If a viscous friction is supposed to be present, a simpler situation is obtained, where Lagrangean mechanics can be applied, and no contact force is known. Even then, the dynamics is very nonlinear.However, this model does not include all the relevant phenomena, such as ball’s slipping at higher beam’s inclination angles, dry friction between the ball and the beam, and impacts between: 1) the ball and the ends of the beam, and 2) the beam and the base (ground). These additions to the model impose the necessity to calculate, in a simulation setting, the contact forces, and the Newton’s approach to determine the system’s equations becomes more convenient. Also, discontinuities in the model are introduced, and the simpler mathematical object for model such systems are the differential inclusion systems.In this work, we deduce the Ball and Beam differential inclusion system, including dry friction and the impact between the ball and beam. We also present simulation results for the corresponding differential inclusion system in a typical situation.Copyright © 2014 by ASME

Fractional Order Feedback Control of a Ball and Beam System

Abstract: In this paper, fractional order feedback control of a ball beam model is investigated. The ball beam model is a particular example of the double Integrator system having strongly nonlinear characteristics and unstable dynamics which make the control of such system a challenging task. Most of the work in fractional order control systems are in theoretical nature and controller design and its implementation in practice is very small. In this work, a successful attempt has been made to design a fractional order PI λ D μ controller for a benchmark laboratory ball and beam model. Better performance can be achieved using a fractional order PID controller and it is demonstrated through simulations results with a comparison to the classic PID controller. Keywords—Fractional order calculus, fractional order controller, fractional order system, ball and beam system, PI λ D μ controller, modelling, simulation.