Abstract
Ball on plate platform is a great tool for testing of various control techniques. This study provides a detailed design and comparison of three control structures for automatic stabilization of the ball´s location on plate and ball trajectory tracking. Namely PD controller, state space feedback and state space observer with state space feedback. All three methods are designed and practically compared. All structures have a common feature. It is the methodology for calculating the parameters of the controllers. Ball - on - plate mathematical model derived by Newton´s method and DC motor position loop control are also part of this article. For the authors of this article, this study is an opportunity to create an educative setup to explain the principles of basic control system for non - technical person and offers motivation to future students.
Highlights
The properties of new control theories are often investigated at inverted pendulum
We have developed control strategies for stabilizing a ball on a plate
Linearization of the system is valid in very narrow operating range
Summary
The properties of new control theories are often investigated at inverted pendulum. Balancing a ball of on two - axis platform is a variant of this testbed in which you can successfully find the limits and observe behavior of the control structure. Practical impact of these control structures is immense. Optical detection requires heavy processing for position estimation. This method leads to huge computation power. From the perspective of the automatic regulation conductive surface represents zero order transfer function. This means that the response will be recovered immediately without undesirable delay [4]
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