Open Access Open Access  Restricted Access Subscription or Fee Access

State Feedback Control System of a Bar and Beam Using Emulated Hardware in the Loop (HIL)


(*) Corresponding author


Authors' affiliations


DOI: https://doi.org/10.15866/ireaco.v8i1.5135

Abstract


Nowadays due to new technologies, many tools facilitate analysis and control of any system. Among the most used tools, exists the embedded systems, as a way of systems emulating under the concept of HIL (Hardware in-the loop); allowing quick and economic development of any type mechatronic product. This paper shows the results obtained in the design and development of control strategies for a process bar and ball, and this dynamic was implemented thought an ARM system, under the concept presented in this work HIL. In this model the variables analyzed where position, speed, angular position and angular velocity; additionally a 2D virtual environment was presented showing the operation of the bar-ball system according to an input signal obtained from the PC was implemented.
Copyright © 2015 Praise Worthy Prize - All rights reserved.

Keywords


Ball and Beam; Euler-LaGrange Model; Emulation on Embedded System; Hardware in the Loop (HIL)

Full Text:

PDF


References


Bacic, M. "Hardware-in-the-loop simulation: Asurvey". IEEE Control Systems Magazine, 2005.
http://dx.doi.org/10.1109/cdc.2005.1582653

Bacic, M. “On hardware-in-the-loop”. Proceeding of the 44th IEEE Conference on Decision and control, and the European Control Conference 2005. Seville, Spain, December 12-15, 2005.
http://dx.doi.org/10.1109/cdc.2005.1582653

Isermann, R.Schaffnit, J. and Sinsel, S. "Hardware-in-the-loop simulation for the design and testing of engine-control systems," Control Engineering Practice, vol. 7, pp. 643-653, 1999.
http://dx.doi.org/10.1016/s0967-0661(98)00205-6

Cole, J. S. and Jolly,A. C."Hardware-in-the-loop simulation at the US Army Missile Command" in Technologies For SyntheticEnvironments: Hardware-In-The-LoopTesting, vol. 2741, Proceedings OfThe Society OfPhoto-Optical Instrumentation Engineers (Spie), 1996, pp. 14-19.

Sisle, M. E. and McCarthy,E. D. "Hardware-In- The-Loop Simulation For An Active Missile," Simulation, vol. 39, pp. 159-167, 1982.
http://dx.doi.org/10.1177/003754978203900503

Eguchi, H. andYamashita,T. "Benefits of HWIL simulation to develop guidance and control systems for missiles," in Technologies For SyntheticEnvironments: Hardware-In The-LoopTesting V, vol. 4027, Proceedings OfThe Society OfPhoto- Optical Instrumentation Engineers (Spie), 2000, pp. 66-73.

Bailey, M. and Doerr, J."Contributions of hardware-in-the-loop simulations to Navy test and evaluation," in Technologies For SyntheticEnvironments: Hardware-In-The-LoopTesting, vol. 2741, ProceedingsOfThe Society OfPhoto- Optical Instrumentation Engineers (Spie), 1996, pp. 33-43.

Evans, M. B. and Schilling, L. J."The role of simulation in the development and flight test of the HiMATvehicle," NASA TM-84912, 1984.

Isermann,R.Sinsel,S. and Schaffnit, S."Hardware-in-the-loop simulation of diesel engines for the development of engine control systems," in AlgorithmsAndArchitectures For Real-Time Control 1997. Oxford: PergamonPress Ltd, 1997, pp. 91-93.

Brennan,S. and Alleyne, A. "Using a ScaleVehicleTestbed: Controller design and Evaluation," IEEE Control Systems Magazine, vol. 21, pp. 15-26, 2001.
http://dx.doi.org/10.1109/37.924794

Brennan, S.Alleyne, A.and DePoorter, M."The Illinois Roadway Simulator - A Hardware-in-the- Looptestbed for vehicledynamics and control," in Proceedings OfThe 1998 American Control Conference, Vols 1-6, Proceedings OfThe American Control Conference. New York: IEEE, 1998, pp. 493-497.
http://dx.doi.org/10.1109/acc.1998.694716

Carter, D. and Alleyne,A. "Loadmodeling and emulation for an earthmovingvehiclepowertrain," in Proceedings OfThe 2003 American Control Conference, Vols 1-6, ProceedingsOfThe American Control Conference. New York: IEEE, 2003, pp. 4963-4968.

Choi,S. B. et al. "Control and responsecharacteristics of a magneto-rheologicalfluiddamper for passengervehicles," in Smart Structures And Material 2000: Smart Structures AndIntegratedSystems, vol. 3985, ProceedingsOfThe Society OfPhoto- Optical Instrumentation Engineers (Spie). Bellingham: Spie-Int Society Optical Engineering, 2000, pp. 438-443.

David, M. R. ySergius, R. E. O. “Propuesta para la Implementación de un Sistema de Control Digital en un Sistema Barra - Esfera”. Tesis Pregrado, Escuela Superior de IngenieriaMecanica y Electrica, Mexico DF, Mexico 2008.

Dario Amaya, H., Castillo, R.A., Rosà rio, J.M., Modeling and simulation of hybrid architecture manufacturing systems, (2011) International Review of Mechanical Engineering (IREME), 5 (4), pp. 594-604.

Floriberto, R. O. “Modelado y Control PD-difuso en tiempo real para el sistema barra-esfera”. Tesis Maestria, Centro de Investigacion y de Estudios Avanzados del Instituto Politecnico Nacional, Mexico DF, Mexico 2004.

Carnegie Mellon, Tutoriales de Control con MATLAB: Tutorial de Espacio de Estado.Available: http://ctms.engin.umich.edu/CTMS [citado 1 de Noviembre de 2013]

Facultad de Ingeniería Eléctrica, Universidad Michoacana de San Nicolás de Hidalgo, "Control Digital", Septiembre 2011.
http://dx.doi.org/10.1016/j.renene.2014.02.041

K. Ogata, “Ingenieria de Control Moderna” Universidad de Minnesota, Person, Prentice Hall.

Wellstead Peter, Ball and Beam 1: Basics, Control SystemsPrinciples. Available: http://www.control-systems-principles.co.uk/whitepapers/ball-and-beam1.pdf [citado 1 de Noviembre de 2013].

Heikkinen, J.E., Minav, T.A., Pyrhonen, J.J., Handroos, H.M., Real-time HIL-simulation for testing of electric motor drives emulating hydraulic systems, (2012) International Review of Electrical Engineering (IREE), 7 (6), pp. 6084-6092.

Heikkinen, J.E., Minav, T.A., Handroos, H.M., Analysis of a hydraulic pump emulator in real-time HIL-simulation: Effect of delays on the stability of the system, (2014) International Review of Electrical Engineering (IREE), 9 (1), pp. 56-61.

Luostarinen, L.O., Aman, R., Handroos, H., Development of control interface for HIL simulation of electro-hydraulic energy converter, (2014) International Review on Modelling and Simulations (IREMOS), 7 (4), pp. 653-660.
http://dx.doi.org/10.15866/iremos.v7i4.2337


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize