Abstract
This paper deals with the overall hardware and software upgrade of the Ball&Plate laboratory model used at the Center of Modern Control Techniques and Industrial Informatics (CMCT&II) at Department of Cybernetics and Artificial Intelligence (DCAI), FEEI, TUKE. Reasons for upgrading the model are described, along with the proposed solution. Design and construction of new control hardware for the model is presented. The paper next describes the implementation of program modules for controlling the position of the ball on the plate at level of the MicroController Unit (MCU) and the supervisor computer. Several approaches of image recognition with the purpose to obtain ball position are tested and compared. Finally, the paper presents the model-based design and verification of a PSD control algorithm for the Ball&Plate model. After the upgrade, the model can be used at the CMCT&II for both research and teaching purposes, with the emphasis on the implementation of applications with high demands on hardware performance, where higher sampling rates of the control algorithms are required.
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