Design of Controllers for Dual-Motor Ball and Beam System


(*) Corresponding author


Authors' affiliations


DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)

Abstract


This paper presents the design of controllers for a dual-motor ball and beam system and simulation of the system using MATLAB SIMULINK. The control of Dual Motor Ball and Beam (DMBB) system is proposed which is a best example for a non-linear system. In the Dual Motor Ball and Beam (DMBB) system, the output (the ball position) increases without limit for a fixed input (beam angle). The controller’s job is to regulate the position of the ball on the beam by changing the angle of the beam. Controllers are designed for this system so that the ball's position can be manipulated. In this work, we have adopted a linear model and each motor’s angular position is controlled by PD controller which is designed using root locus technique, while the ball position is controlled by an outer lead compensation loop which is designed using MATLAB SISO TOOL.
Copyright © 2014 Praise Worthy Prize - All rights reserved.

Keywords


DMBB System; PD Controller Design; Root Locus Technique; SISO TOOL; MATLAB

Full Text:

PDF


References


K. Astrom and T. Hagglund, “PID Controllers: Theory, Design, and Tuning,” 2nd Ed. Research Triangle Park, NC: Instrument Society of America, 1995.

K. J. Åström and T. Hägglund, Automatic tuning of PID controller. Research Triangle Park: ISA, 1988.

Dharmana Simhachalam, Chanchal Dey, Member, IEEE, and Rajani K. Mudi- "An Auto-Tuning PD Controller for DC Servo Position Control System",2nd International Conference on Power, Control and Embedded Systems,2012.

Gunasekaran M, Potluri R, Cooperative control of a dual-motor ball and beam system, INDICON 2008. Annual IEEE- India Conference, 2008.

Ho, W.K., Hang, C.C. and Cao,L.S. – “Tuning of PID controllers based on gain and phase margin specifications”, Automatica, Vol.31, No.3, pp. 497, 1995.

Hauser, J., Sastry, S. and Kokotovic, P., “Nonlinear control via approximate input-output linearization: The Ball and Beam example,” IEEE Transactions on Automatic control, pp. 392-398, March 1992.

Jimenez S and Wen Yu, Stable synchronization control for two ball and beam systems, International Conference on Electrical and Electronics Engineering, pages 290-293, 2007.

C. Knospe, “PID Control,” IEEE-Control Systems Magazine, vol.26, pp. 30-31, Feb. 2006.

Richard C.Dorf, Robert H.Bishop, Modern Control Systems, Eighth edition, Pearson education, 2004.

Sanda Dale, Toma-Leonida Dragomir - "Interpolative-type control solutions for a “ball and beam” system",control engineering and applied informatics,Vol. 8, No. 3, pp. 3-14, 2006.

Ogata,K. – “Modern Control Engineering”, Prentice-Hall, 1990.

Wenzhuo Chen,Xiaomei Sui, Yonghui Xing, Modeling and Modulation of Nonlinear Ball-beam System Controller Based on Matlab, 2012 9th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD 2012).

Wei Wei , Peng Xue ,A Research on Control Methods of Ball and Beam System Based on Adaptive Neural Network, 2010 International conference on Computational and Information Sciences.

Wen Yu and Floriberto Ortiz, Stability analysis of pd regulation for ball and beam systems, Proceedings of the IEEE Conference on Control Applications, pages 517-522, 2005.

Ibrahim, H.E.A., Hakim Mahmoud, A.A., DC motor control using PID controller based on improved ant colony algorithm, (2014) International Review of Automatic Control (IREACO), 7 (1), pp. 1-6.


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2022 Praise Worthy Prize