Design and Implementation of Ball and Beam Control System Based on Iterative Learning Control

被引：0

作者：

Zhu Chenghai ^{[1
]}

Li Jianan ^{[1
]}

Wang Fudong ^{[1
]}

Yang Xinhao ^{[1
]}

Zhao Ying ^{[1
]}

Shi Xiaoli ^{[1
]}

机构：

[1] Soochow Univ, Sch Mech & Elect Engn, Suzhou, Peoples R China

来源：

PROCEEDINGS OF 2016 IEEE ADVANCED INFORMATION MANAGEMENT, COMMUNICATES, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IMCEC 2016) | 2016年

关键词：

lagrange equations; simulation; dynamic analysis; AM3358; iterative learning control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Ball and Beam control system based on embedded machine vision has been designed by using camera to detect the position of the ball. By analyzing the dynamics of ball and beam, the motion equations of the ball and beam system are modeled by the Lagrange equations. Then, the iterative learning control algorithm is designed to control the system. According to the result of the simulation, it is obvious that the iterative learning control algorithm can control the system very well. Finally, by selecting AM3358 as the core processor and capturing the real-time images of ball through camera, we achieve location based on the position feedback of the ball with iterative algorithm by controlling servo.

引用

页码：1288 / 1292

页数：5

共 9 条

[1] ITERATIVE LEARNING CONTROL FOR A CLASS OF NONLINEAR-SYSTEMS
AHN, HS
CHOI, CH
KIM, KB
[J]. AUTOMATICA, 1993, 29 (06) : 1575 - 1578
[2] Arimoto S., 1990, International Journal of Adaptive Control and Signal Processing, V4, P543, DOI 10.1002/acs.4480040610
[3] Davies E R, 2005, MACHINE VISION THEOR, P17
[4] Lone M. A., 2011, 2011 Proceedings of International Conference on Computational Intelligence and Communication Networks (CICN 2011), P222, DOI 10.1109/CICN.2011.44
[5] Naster C., 1997, COMPUTER VISION IMAG, P179
[6] ON THE P-TYPE LEARNING CONTROL
SAAB, SS
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1994, 39 (11) : 2298 - 2302
[7] Salvatore S, 2002, IEEE T AUTOMATIC CON, V30, P376
[8] Control of a Ball and Beam like mechanism
Uran, S
Jezernik, K
[J]. 7TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS, 2002, : 376 - 380
[9] Rapid object detection using a boosted cascade of simple features
Viola, P
Jones, M
[J]. 2001 IEEE COMPUTER SOCIETY CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, VOL 1, PROCEEDINGS, 2001, : 511 - 518

← 1 →