Advanced

Flexibelt linjärservo med inverterad pendel

Bergkvist, Pelle and Lindgren, Jörgen (2004) In MSc Theses
Department of Automatic Control
Abstract
This master thesis is the first step in developing a new laboratory process for the automatic control basic course. The new process should illustrate the benefits of state-space control compared to PID control. A process with several outputs to control is then desired as a single PID controller does not support such a system. The suggested process consists of two carts mounted on a linear rail and connected by a spring, one driven by a DC motor and one trailing along holding a pendulum. The overall goal of the laboratory will be to balance the pendulum upright. This could be done with PID control but with the slight drawback of not being able to control the cart positions. Thus it would not be suitable for a real process of this kind since... (More)
This master thesis is the first step in developing a new laboratory process for the automatic control basic course. The new process should illustrate the benefits of state-space control compared to PID control. A process with several outputs to control is then desired as a single PID controller does not support such a system. The suggested process consists of two carts mounted on a linear rail and connected by a spring, one driven by a DC motor and one trailing along holding a pendulum. The overall goal of the laboratory will be to balance the pendulum upright. This could be done with PID control but with the slight drawback of not being able to control the cart positions. Thus it would not be suitable for a real process of this kind since the rail is not infinitely long. The state-space controller and observer needed to position the carts arbitrarily while balancing the pendulum are implemented in Matlab and Simulink environment, whereas the I/O interface is handled by an Atmel AVR microcontroller (ATMEGA8). The rail and cart chassis were bought from a local company and modified into modules, enabling the process to change into several shapes. The positioning hardware and driver circuits were developed at the department. The main effort has been to make all these parts work together. Programming the AVR in order to drive the machine, communicate with Simulink and handle position encoding has demanded some hard work. The report deals with issues considering simple D/A Pulse Width Modulation and positioning with state machine with interpolation for extended resolution. The process of modeling this system is also treated together with the basic control theory needed for accurate performance. This master thesis has resulted in a price worthy, fully functional and controllable LFJCIP-process for educational purpose. (Less)
Please use this url to cite or link to this publication:
author
Bergkvist, Pelle and Lindgren, Jörgen
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5725
ISSN
0280-5316
language
English
id
8848012
date added to LUP
2016-03-18 19:04:24
date last changed
2016-03-18 19:04:24
@misc{8848012,
  abstract     = {This master thesis is the first step in developing a new laboratory process for the automatic control basic course. The new process should illustrate the benefits of state-space control compared to PID control. A process with several outputs to control is then desired as a single PID controller does not support such a system. The suggested process consists of two carts mounted on a linear rail and connected by a spring, one driven by a DC motor and one trailing along holding a pendulum. The overall goal of the laboratory will be to balance the pendulum upright. This could be done with PID control but with the slight drawback of not being able to control the cart positions. Thus it would not be suitable for a real process of this kind since the rail is not infinitely long. The state-space controller and observer needed to position the carts arbitrarily while balancing the pendulum are implemented in Matlab and Simulink environment, whereas the I/O interface is handled by an Atmel AVR microcontroller (ATMEGA8). The rail and cart chassis were bought from a local company and modified into modules, enabling the process to change into several shapes. The positioning hardware and driver circuits were developed at the department. The main effort has been to make all these parts work together. Programming the AVR in order to drive the machine, communicate with Simulink and handle position encoding has demanded some hard work. The report deals with issues considering simple D/A Pulse Width Modulation and positioning with state machine with interpolation for extended resolution. The process of modeling this system is also treated together with the basic control theory needed for accurate performance. This master thesis has resulted in a price worthy, fully functional and controllable LFJCIP-process for educational purpose.},
  author       = {Bergkvist, Pelle and Lindgren, Jörgen},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Flexibelt linjärservo med inverterad pendel},
  year         = {2004},
}