Abstract
The ball and beam system is a highly nonlinear laboratory model which helps to understand the modern and classical control theory. This paper presents the position control of a ball and beam system, which is actuated by shape memory alloy (SMA) springs in the antagonistic configuration. The system is designed such that the SMA actuator provides the bidirectional controlled force on the pulley to the beam through the shaft. This bidirectional motion of the beam needs to be controlled for the proper positioning of the ball with an appropriate controller design. Hence it is proposed to design/tune the controller optimally for the effective control and improved performance of the system which is not feasible using conventional Ziegler Nichols (ZN) design. The objectives of this paper are: 1) to use SMA spring as an actuator for ball and beam system; 2) to optimise the PID controller gain with genetic algorithm (GA); 3) to compare the performance of Ziegler Nichols (ZN) PID and GA-PID in simulation and experimentation to show the competence of GA-PID with ZN-PID through performance error indices.
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