Positional Visual Feedback Control
Identifikátory výsledku
Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F07%3A00129964" target="_blank" >RIV/68407700:21230/07:00129964 - isvavai.cz</a>
Výsledek na webu
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DOI - Digital Object Identifier
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Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Positional Visual Feedback Control
Popis výsledku v původním jazyce
This paper discusses closing a positional visual feedback to control of servo drives. Visual feedback was applied to a model of a billiard ball juggler and the closed control loop was demonstrated by a program, juggling with a single billiard ball. In the work, problems caused by a non real time operating system used for measurement are discussed, as well as communication delay on TCP/IP network. For tracking of a billiard ball, Kalman filter algorithm was utilized and adjusted, so as to be able to handle missing measurement samples. Kalman filter estimates the state of the flying ball and sends it to the predictor, which computes the catch point. The computed catch point is then sent to the control PLC in advance, so that the servo drives could adjusttheir position in time.
Název v anglickém jazyce
Positional Visual Feedback Control
Popis výsledku anglicky
This paper discusses closing a positional visual feedback to control of servo drives. Visual feedback was applied to a model of a billiard ball juggler and the closed control loop was demonstrated by a program, juggling with a single billiard ball. In the work, problems caused by a non real time operating system used for measurement are discussed, as well as communication delay on TCP/IP network. For tracking of a billiard ball, Kalman filter algorithm was utilized and adjusted, so as to be able to handle missing measurement samples. Kalman filter estimates the state of the flying ball and sends it to the predictor, which computes the catch point. The computed catch point is then sent to the control PLC in advance, so that the servo drives could adjusttheir position in time.
Klasifikace
Druh
O - Ostatní výsledky
CEP obor
BC - Teorie a systémy řízení
OECD FORD obor
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Návaznosti výsledku
Projekt
<a href="/cs/project/1P04LA232" target="_blank" >1P04LA232: IFAC-práce v Technickém výboru Computers for Control</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Ostatní
Rok uplatnění
2007
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů