Digital Control of Ball & Plate Model Using LQ Controller
Identifikátory výsledku
Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F17%3A63517783" target="_blank" >RIV/70883521:28140/17:63517783 - isvavai.cz</a>
Výsledek na webu
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7976185" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7976185</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC.2017.7976185" target="_blank" >10.1109/PC.2017.7976185</a>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
Digital Control of Ball & Plate Model Using LQ Controller
Popis výsledku v původním jazyce
This paper proposes the design of linear quadratic (LQ) digital controller in Ball & Plate model in experimental environment. The non-linear mathematical model of Ball & Plate structure is presented and adequately linearized. Polynomial approach to controller design for two degrees of freedom (2DOF) controller structure is introduced as the main tool for determination of unknown parameters. This method requires placing poles of characteristic polynomial, which are semi-optimally determined using minimization of linear quadratic criterion. This criterion is minimized by spectral factorization with the aid of the Polynomial Toolbox for MATLAB. Experiments have proved that this type of controller is able to stabilize the ball in desired position on the plate, reject external disturbances and follow reference path without much effort. In addition, a simple maze was created on the plate to extend possibilities of the choice of reference signal. The algorithm is able to determine correct path through the maze and navigate the ball along this path.
Název v anglickém jazyce
Digital Control of Ball & Plate Model Using LQ Controller
Popis výsledku anglicky
This paper proposes the design of linear quadratic (LQ) digital controller in Ball & Plate model in experimental environment. The non-linear mathematical model of Ball & Plate structure is presented and adequately linearized. Polynomial approach to controller design for two degrees of freedom (2DOF) controller structure is introduced as the main tool for determination of unknown parameters. This method requires placing poles of characteristic polynomial, which are semi-optimally determined using minimization of linear quadratic criterion. This criterion is minimized by spectral factorization with the aid of the Polynomial Toolbox for MATLAB. Experiments have proved that this type of controller is able to stabilize the ball in desired position on the plate, reject external disturbances and follow reference path without much effort. In addition, a simple maze was created on the plate to extend possibilities of the choice of reference signal. The algorithm is able to determine correct path through the maze and navigate the ball along this path.
Klasifikace
Druh
D - Stať ve sborníku
CEP obor
—
OECD FORD obor
20205 - Automation and control systems
Návaznosti výsledku
Projekt
—
Návaznosti
S - Specificky vyzkum na vysokych skolach
Ostatní
Rok uplatnění
2017
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název statě ve sborníku
Proceedings of the 2017 21st International Conference on Process Control, PC 2017
ISBN
978-153864011-1
ISSN
—
e-ISSN
neuvedeno
Počet stran výsledku
6
Strana od-do
36-41
Název nakladatele
Institute of Electrical and Electronics Engineers Inc.
Místo vydání
Piscataway, New Jersey
Místo konání akce
Štrbské Pleso
Datum konání akce
6. 6. 2017
Typ akce podle státní příslušnosti
EUR - Evropská akce
Kód UT WoS článku
—