Title :
A Ball and Curved Offset Beam Experiment
Author :
Jansen Sheng ; Renner, J. ; Levine, W.S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Univ. of California, Berkeley, CA, USA
fDate :
June 30 2010-July 2 2010
Abstract :
The straight beam in the ball and beam control experiment was replaced by a curved beam mounted away from its center of rotation. The resulting system is much harder to understand, model and control than the ball and straight beam. Nonetheless, the apparatus was constructed, a model was derived using Lagrangian mechanics, and a controller was designed using a linearized model and the LQR. This controller was implemented and successfully stabilized the ball on the curved offset beam.
Keywords :
beams (structures); control system synthesis; linear quadratic Gaussian control; mechanical variables control; structural engineering; LQR; Lagrangian mechanics; ball and curved offset beam experiment; linear quadratic regulator; Education; Gravity; Lagrangian functions; Mathematical model; Motor drives; Plastics; Potentiometers; Shafts; Strips; Wires;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530776
