Control of a Ball and Beam Using Tracker With Entire Eigenstructure Assignment in Real Time
Lucas Niro1; Marcio Aurelio Furtado Montezuma1; Joana Peireira Repinaldo1; Bruno Masaharu Shimada1; Wanderlei Malaquias1; Lucia Valeria Ramos de Arruda1
1 Federal Technological University of Paraná
doi:10.20906/CPS/COB-2015-0732
Resumo
The control of ball and beam system corresponds to a classical control problem in the theory. In the present contribution, the "conventional" ball and beam system was modified in order to develop an acquisition system with wireless transmission. For this purpose, the ball was substituted by a car, this modification allows to embed a microcontroller on the car enabling the use of a linear encoder to measure the position, and this measurement is transmitted wirelessly. The system´s model was obtained using of Newton-Euler equations with two degrees of freedom of a known ball and beam. The equations of movement are simplified and linearized. The controllers used in the tracking control were designed using the entire eigenstructure assignment technique and in this process, the equations of motion were represented by state-space equations. The simulations were performed in the software Matlab® / Simulink with the tracking control with auto-assignment structure. The experimental results demonstrated the effectiveness of the developed system.
Palavras-chave: Ball and Beam; Tracking System; Real-time; Wireless Communication; Entire Eigenstructure Assignment