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Title: | Modelling and design of controller for ball plate plant | Authors: | Tran Quang Ky | Issue Date: | 2019 | Abstract: | Controlling a Ball Plate system is a well known problem in the field of control algorithm design. It is the 2 dimentional extension of the well known ball beam system. The idea is to actuate a flat surface so that the a ball could be balanced, or roll following a predefined trajectory on that surface. This thesis includes the construction of the mathematical model of a ball on inclined plane, the building of Simulink hardware simulation model, controlling scheme of individual actuators, the upgrade of the image processing software of the the existing plant, the derivation of two control laws and the deployment of the control laws on a physical plant. The physical plant is a 3RRS Parallel manipulator, having three degree of freedom (3DOF). The modelling of the ball on inclined plane was constructed using the Euler - Lagrangian approach. The system is controlled by double feedback loop control scheme. The development of the control law is approach by two methods. One of the them is a software-tuned PID controller. The other is a Lyapunov-based control law, derived by recursive backstepping method. All of the simulation and most of the deployment process was done entirely by MATLAB, Simulink with the existing lab equipment |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/1149 |
Appears in Collections: | Electrical Engineering and Information Technology (EEIT) |
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