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Plate System
Amir Rikhtehgar Ghiasi#1, Hooshang Jafari#2
#
agiasi@tabrizu.ac.ir
h.jafari90@ms.tabrizu.ac.ir
I. INTRODUCTION
The ball and plate system is extension of the well-known
ball and beam system. The latter has two degree of freedom
where a ball can roll on a rigid beam while the former is the
four degree of freedom system consisting of a ball that can
roll freely on a plate. However, it is more complicated than
ball and beam due coupling of multi-variables. This underactuated system has only two actuators and should be
stabilized by just two control inputs. The system is a
benchmark to test various nonlinear control schemes and it is
influenced by nonlinearities such as motion resistance
between the ball and plate, backlash in transmission set and so
on. The experimental platform includes a flat plate, a ball,
motors and their driving system, a CCD camera and so on.
The plate rotates around its x and y axis in two perpendicular
directions. Inclinations of the plate are changed by a servo
control system mainly including photo encoders, two step
motors and two step motor drivers. Position of the ball is
measured by a machine vision system.
Difficulty of creating a ball and plate mechanism with
respect to a ball and beam mechanism is the main drawback of
such systems but the enormous potential of performing
manifold control strategies on ball and plate systems make
them desirable.
Various control methods have been introduced for ball and
plate system [1]-[9]. For instance, a controller design for two
dimensional Electro-mechanical ball and plate system based
on the classical and modern control theory [1]. A supervisory
fuzzy controller was proposed for studying motion control of
the system included the set-point problem and the tracking
problem along desired trajectory, which was composed of two
Fig. 1 The scheme of the model simplification for ball and plate system
qk
= Qk
(1)
Tball = [m + b2 (x 2 + y 2 ) + Ib 2 + + mx + y ] (2)
r
Tplate =
[Ipx 2 + Ipy + m + b2 (x 2 + y 2 ) + Ib 2 +
r
2
(3)
+ mx + y ]
2
2
m + b2 y mx my + mg sin = 0
r
Ipx + Ib
mgx cos = x
+ mx 2
Ipy + Ib +
mgy cos = y
my 2
(4)
(5)
(6)
(7)
x5 = y, x6 = y , x7 = , x8 =
x 1 = x2
x 4 = ux
x 5 = x6
x 8 = uy
Where C =
dt q k
mr2
mr2 +Ib
and Ib =
5
2
5
= 1 4 g sin x3 ) +
x4
x 3
0
x 4
0
0 x
0
1
x 5
x6
2
x(2)
C(x
x
6
= 5 8 g sin x7 ) +
x8
x 7
0
x 8
0
0 y
0
1
x 1
0
x 2
0
=
x 3
0
0
x 4
y=[1 0
0
0 x
0
1
(8-a)
(8-b)
x = Ax + Bu, y = Cx + Du
(9-a)
(9-b)
(10)
B. H Controller Design
The system structure for H control described in Fig. 3
considered. Based on the above arguments, considering on the
configuration shown in Fig. 3, where an augmented plant
model can be constructed as the controller can be represented
by
A
p(s) = C1
C2
(11)
B2
D12
D22
(12)
(14)
B1
D11
D21
Where
A
Fc (s) = f
F
ZL
(15)
Af = A + 2 B1 B1 T X + B2 F + ZLC2
F = B2 T X, L = YC2 T , Z = (I 2 YX)1
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
Fig. 7 Circular trajectory tracking for nonlinear system
[10]
[11]
[12]
[13]
Fig. 8 Circular trajectory tracking error for nonlinear system