Camargo, Lukas C. ; Bispo, Vitor Hugo S. ; Alves, Uiliam Nelson LT ; Ribeiro, Fernando SF ; Breganon, Ricardo
The Car and Beam prototype is a teaching piece of equipment, inspired by Ball and Beam systems. It consists of a beam supported in its center by means of a rotating axis installed in two rolling bearings, allowing the beam to rotate through the actuation of a servo motor. A car is coupled to this beam, and its displacement is measured using a linear encoder. ; This paper focuses on two key aspects: firstly, it offers a mathematical model of the Car and Beam system, and secondly, it outlines the development of a state-feedback tracking controller through pole placement to this system. To validate the modeling and control approach, we present simulation and experimental results using three different reference profiles: step, square wave, and sine wave. ; Our findings demonstrate the effectiveness of the control strategy in tracking predefined trajectories, both in simulation and with the physical prototype. In conclusion, this study highlights the efficacy of the methodology employed for mathematical modeling and the controller's design in the context of this specific application. The results indicate promising potential for further exploration in this domain.
Zielona Góra: Uniwersytet Zielonogórski
IJAME, volume 29, number 2 (2024)
Biblioteka Uniwersytetu Zielonogórskiego
Jul 15, 2024
Jul 15, 2024
73
https://zbc.uz.zgora.pl/publication/89879
Edition name | Date |
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State feedback control of a Car and Beam prototype | Jul 15, 2024 |
Breganon, Ricardo Alves, Uiliam Nelson LT De Almeida, Joao Paulo LS Ribeiro, Fernando SF Mendonça, Marcio Palácios, Rodrigo HC Montezuma, Marcio AF Jurczak, Paweł - red.
Kużdorowicz, Paweł Witkowski, Krzysztof Vidová, Helena Moczulska, Marta - red. Preston, Peter- red. jęz. Stankiewicz, Janina - red. nacz. Zmyślony, Roman - red. statyst. Adamczyk, Janusz- red. Skalik, Jan - red.
Kaźmierczak, Henryk Pawłowski, Tadeusz Zembrowski, Krzysztof Jurczak, Paweł - red.
Barszcz, Tomasz Czop, Piotr Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Staffans, Olof J. Curtain, Ruth - ed. Kaashoek, Rien - ed.
Dąbrowski, Robert
Liberska, Hanna Rongińska, Tatiana - red.
Martins, Valérie Santos dos Rodrigues, Mickael Diagne, Mamadou Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.