Ball balancing system:: An educational device for demonstrating optimal control

被引：4
|
作者：
Kostamo, J [1 ]
Hyötyniemi, H [1 ]
Kuosmanen, P [1 ]
机构：
[1] Helsinki Univ Technol, Control Engn Lab, Espoo 02015, Finland
来源：
2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Proceedings | 2005年
关键词：
feedback; Kalman-filter; machine vision; optimal control; trajectory tracking;
D O I：
10.1109/CIRA.2005.1554306
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The basic ideas of feedback and control are not difficult to understand. However it is an interesting challenge to demonstrate control techniques in an entertaining and attractive way. The ball balancing device presented in this paper was developed to be used as a research and exhibition device. The solution of the control design problem is based on the physical model of the process and modern control theory. Linear quadratic regulator is used to control the process and Kalman filter is used to estimate the state of the ball. Machine vision is applied in the position measurement of the ball and linear servo motors are used as actuators.
引用
收藏
页码：379 / 384
页数：6
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