EMBEDDED CONTROLLER BUILDING FOR BALL AND BEAM SYSTEM USING OPTIMAL CONTROL SYNTHESIS

Abstract

The controller design for the Ball and Beam system is particularly crucial in the aviation fields due to its likeness to the aircraft control during the flight and landing under turbulent. Since the actual tests on the aircrafts are not possible, the Ball and Beam system could be necessary as an alternative to these manoeuvring. In addition, the ball and beam system is a nonlinear dynamical model intended to test various control algorithms. The complete system includes a ball, a beam, a motor and several sensors. The input torque is generated from the motor to control the position of the ball on the beam, where the ball rolls on the beam freely. The concise mathematical model has been obtained by linearized around the horizontal region. The presented control strategies are based on the optimal control synthesis including LQR and H2 optimization to manipulate the complete ball-beam system. These control algorithms have been successfully tested to figure out the control performance for specific applications. Finally, the control systems are implemented in the real ball and beam system with a data acquisition card of DSP F28335.

Keywords

• Ball and beam system
• Linear quadratic regulator (LQR)
• Linear quadratic Gaussian (LQG)
• H2 optimization.