Modelling of Ball and Plate System Based on First Principle Model and Optimal Control

被引：0
|
作者：
Dusek, Frantisek [1 ]
Honc, Daniel [1 ]
Sharma, Rahul K. [1 ]
机构：
[1] Univ Pardubice, Fac Elect Engn & Informat, Dept Proc Control, Nam Cs legii 565, Pardubice 53210, Czech Republic
来源：
2017 21ST INTERNATIONAL CONFERENCE ON PROCESS CONTROL (PC) | 2017年
关键词：
Ball and plate system; first principle model; optimal control; LQ control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents modelling of ball and plate systems based on first principles by considering balance of forces and torques. A non-linear model is derived considering the dynamics of motors, gears, ball and plate. The non-linear model is linearized near the operating region to obtain a standard state space model. This linear model is used for discrete optimal control of the ball and plate system - the trajectory of the ball is controlled by control voltages to the motor.
引用
收藏
页码：216 / 221
页数：6
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