Note: This content is accessible to all versions of every browser. However, this browser does not seem to support current Web standards, preventing the display of our site's design details.

  

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

Author(s):

René Waldvogel
Conference/Journal:

Zurich
Abstract:

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
Year:

2010
Type of Publication:

(12)Diploma/Master Thesis
Supervisor:

S. Richter

No Files for download available.
% Autogenerated BibTeX entry
@PhdThesis { Xxx:2010:IFA_3924
}
Permanent link