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MPC Control of a Ball on Plate System: Theory and Implementation


René Waldvogel


This thesis considers all the building blocks, from theory to practical implementation, required to make a -ball on plate" system run. To achieve the goal of controlling and regulating the ball on the plate. a cascaded control strategy is used. For the outer loop, being the ball system, different controllers such AS a PID'. an 1,QR and an MPC3 controller that takes input constraints into account are implemented. The main focus is on the state feedback controllers though. for which we use a multi - rate extended Kalman filter to estimate the states of the ball. This is necessary, since we can only detect the position of the ball by a Cognex In - Sight 1050 vision system. The inner loop, being the motor/plate system, is controlled by a ND controller with two degrees of freedom. To handle the signals of the sensors And to implement the control strategies of the "ball on plate" system we use a 13&711' industrial control unit from the X20 system range. As a supplement, a haptic interface is realized by a DC motor and A rotary encoder of austrianficrosystems to allow humans to control the system manually. The DC motor is thereby used to give feedback.

Further Information

Type of Publication:

(12)Diploma/Master Thesis

S. Richter

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2010:IFA_3924
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