By Carion Pelton, Oklahoma State University
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OverviewIn this experiment you will build and control a ball and beam system. Based on the equations of motion, you will build the theoretical nonlinear model in Simulink. The open loop response will be verified through simulation. Using MATLAB, you will linearize the nonlinear model, and simulate the open loop response for the linear model as well. Once the linear and nonlinear models have been verified, an optimal state feedback controller will be designed and simulated. Then you will test your optimal controller on the real system, using an Arduino to control the position of the ball on the beam, and compare with the simulation results. Click on the Handout PDF link in the right sidebar to download the Experiment Handout. It describes all of the steps you will need to perform to complete the experiment. If you click on the Hardware/Parts link in the right sidebar, you will find a list of all parts needed to perform this experiment and places to order them. Files needed for 3-D printing can be found by clicking on the 3-D Printer Files link. Software that you will need to run the experiment is available from the Software/Code link What You Will LearnThis experiment will give you insights into the design of optimal state feedback control systems. You will also learn about the capabilities and limitations of linear modeling and control design, when applied to a practical, real-world (nonlinear) system. PrerequisitesBefore running this experiment, you should perform the following experiment: Sampling and Data Acquisition. |
Handout PDFHardware/PartsSoftware/Code3-D Printer Files |