Ball balancing system: an educational device for demonstrating optimal control

Author

Kostamo, Jari ; Hyötyniemi, Heikki ; Kuosmanen, Petri

Author_Institution

Control Eng. Lab., Helsinki Univ. of Technol., Espoo, Finland

fYear

2005

fDate

27-30 June 2005

Firstpage

379

Lastpage

384

Abstract

The basic ideas of feedback and control are not difficult to understand. However it is an interesting challenge to demonstrate control techniques in an entertaining and attractive way. The ball balancing device presented in this paper was developed to be used as a research and exhibition device. The solution of the control design problem is based on the physical model of the process and modern control theory. Linear quadratic regulator is used to control the process and Kalman filter is used to estimate the state of the ball. Machine vision is applied in the position measurement of the ball and linear servo motors are used as actuators.

Keywords

Kalman filters; actuators; computer vision; control engineering education; control system synthesis; feedback; optimal control; position control; position measurement; servomotors; state estimation; Kalman filter; ball balancing system; control design; educational device; feedback control; linear quadratic regulator; machine vision; modern control theory; optimal control; physical model; position measurement; servo motor; Control design; Control theory; Linear feedback control systems; Machine vision; Optimal control; Position measurement; Process control; Regulators; Servomechanisms; State estimation; Feedback; Kalman-filter; Machine vision; Optimal control; Trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554306

Filename

1554306