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Dissertations / Theses on the topic 'Ball and beam system'
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Haveri, Narayana Madhusudhana. "L1 adaptive control for ball and beam system." OpenSIUC, 2012. https://opensiuc.lib.siu.edu/theses/887.
Full textAbstract:
The ball and beam system is a very simple and powerful control system problem. The easy construction of this system combined with its challenging control design requirement makes it one of the most favorable example models for control engineers. The model contains a horizontal beam which can pivot about its center; a DC Motor whose shaft is connected to the center of the beam; and a ball that can freely roll on top of the beam. The basic idea is to accurately tilt the beam about its center, using the motor, to indirectly control the position of the ball that freely rolls on the beam. In this thesis, the L1 adaptive control technique is considered for precise positioning of the rolling ball on the beam. Two different architectures of L1 adaptive control namely, the L1 adaptive state feedback control and the L1 adaptive output feedback control are designed and verified in simulation. L1 adaptive control guarantees transient performance and robustness in presence of fast adaptation without introducing or enforcing persistence of excitation.
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Kocak, Elif. "Control Law Partitioning Applied To Beam And Ball System." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609564/index.pdf.
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In this thesis different control methods are applied to the beam and ball system. Test
setup for the previous thesis is handled, circuit assemblies and hardware redesigned. As
the system is controlled by the control law partitioning method by a computer, discrete
time system model is created. The controllability and the observability of the system
are analyzed and a nonlinear controller by using control law partitioning in other words
computed torque is designed. State feedback control algorithm previously designed is
repeated. In case of calculating the non measurable state variables two different
reduced order observers are designed for these two different controllers, one for control
law partitioning controller and the other for state-feedback controller. Two controller
methods designed for the thesis study are tested in the computer environment using
modeling and simulation tools (Also a different controller by using sliding mode
controller is designed and tested in the computer environment using simulation tools).
A controller software program is written for the designed controller algorithms and this
software is tested on the test setup. It is observed that the system is stable when we
apply either of the control algorithms.
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Ito, Bennett T. (Bennett Takeo) 1982. "Stabilizing the ball on beam system with analog feedback." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/32805.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.Includes bibliographical references (p. 45).
A mechanical ball on beam system was stabilized to demonstrate the capabilities of control systems. This demonstration system is intended for use in control theory classes such as 6.011 Introduction to Communication, Control, and Signal Processing, 6.302 Feedback Systems, and 6.003 Signals and Systems. Control of this unstable system is achieved through classical control methods taught in 6.302. The compensators are implemented in analog circuitry. The system was successfully demonstrated in a 6.011 lecture (April 5, 2004). A lab kit system was designed for future 6.302 students.
by Bennett T. Ito.
S.B.
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MOULKI, Mohammad Firas, and Mohamad Khashab. "Haptic Servo System." Thesis, Linnéuniversitetet, Institutionen för fysik och elektroteknik (IFE), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-44461.
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A ”Haptic servo system” is here understood as a servo system whereforces from a controlled system are fed back to an operator. This thesis workis a design work where the work among other things comprises the choice ofsuitable motors, one for operating the beam and another one for operatingthe steering wheel. Data for the beam and ball are assumed to be known.Data for the feed back torque to the steering wheel is assumed to be specifiedin advance. Two models to represent the human response are suggested. Asimulation study is carried out to show that the system works according tosome specification. The ball and beam process is simulated with hardwarein the loop. The hardware in the loop is a Maxon motor. The motor is usedas the steering wheel and the motor will also propagate the torque feedbackto the operator.The task of the thesis work could then be formulated as: Can a human, withtorque feedback, manually control the ball on the beam without looking atthe ball and the beam?
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Wieneke, Jacob Daniel. "A feasibility assessment of using ultrasonic sensor position feedback for a ball-and-beam apparatus." Thesis, Kansas State University, 2010. http://hdl.handle.net/2097/6241.
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Master of ScienceDepartment of Mechanical and Nuclear Engineering
Warren N. White
This thesis describes the process of testing and implementing ultrasonic transducers for ball position feedback on a ball-and-beam apparatus. Also included are specifications for equipment to allow feedback and command signals to be wireless, not hardwired to the control computer. The author presents various ball-and-beam configurations as well as details about the specific configuration used for this work. These details include choices in sensors, materials, hardware, construction, and controller. After the apparatus has been described, the author provides information to support claims about system performance. The conclusions presented specify the necessary hardware to make the system wireless and indicate that acoustic sensors can complete a successful ball-on-beam balancing system.
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Algarawi, Mohammed. "Non-linear discrete-time observer design by sliding mode." Thesis, Brunel University, 2007. http://bura.brunel.ac.uk/handle/2438/5072.
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Research into observer design for non-linear discrete-time systems has produced many design methods. There is no general design method however and that provides the motivation to search for a new simple and realizable design method. In this thesis, an observer for non-linear discrete-time systems is designed using the sliding mode technique. The equation of the observer error is split into two parts; the first part being a linearized model of the system and the second part an uncertain vector. The sliding mode technique is introduced to eliminate the uncertainty caused by the uncertain vector in the observer error equation. By choosing the sliding surface and the boundary layer, the observer error is attracted to the sliding surface and stays within the sliding manifold. Therefore, the observer error converges to zero. The proposed technique is applied to two cases of observers for nonlinear discrete-time systems. The second case is chosen to be a particular practical system, namely the non-linear discrete-time ball and beam system. The simulations show that the sliding mode technique guarantees the convergence of the observer error for both systems.
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Lindberg, Johan. "Jämförelsestudie avseende stomsystem : Ramverk eller fackverk/balk/pelar-system." Thesis, Högskolan Dalarna, Byggteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:du-13268.
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Projektet omfattade en jämförelsestudie avseende stomsystem. Studien undersökte ramverk och fackverk/balk/pelar-system och genomfördes självständigt med stöttning av Ramböll AB´s kontor i Falun. Syftet var främst att undersöka vilka skillnader det finns mellan tvåledsramar och fackverk/balk/pelar-system för lätta hallbyggnader och försöka få klarhet i varför fackverk/balk/pelar-system är det dominerande systemet i Sverige eftersom övriga Europa har tagit en annan utveckling och domineras av tvåledsramar. Studien undersöker skillnaderna mellan systemen i en hallbyggnad med förutbestämda mått i stål.Inledningsvis gjordes en litteraturstudie för att få en bredare bakgrund av systemen och en bättre förståelse om förutsättningarna för varje system. Efter litteraturstudien kunde sedan ett typhus och beräkningsunderlag för jämförelsestudien tas fram. Även en enkätstudie gjordes med syftet att skapa en tydlig bild av vilket stomsystem konstruktörer i Sverige oftast väljer och varför. Resultatet av studien visade att tvåledsramar ger en ökad kostnad jämfört med fackverk/balk/pelar-system i materialåtgång och framställning samt att beräkningarna blir mer komplicerade. Skulle fortsatta studier göras med dessa system i byggnader med andra mått skulle det kanske gå att få fram speciella mått på byggnader där kostnaden för tvåledsramar blir densamma som för fackverk/balk/pelar-system och därför är ett likvärdigt alternativ som stomsystem.En viktig slutsats från projektet är att tvåledsramar används mycket mer sällan än fackverk/balk/pelar-system som stomsystem i lätta hallbyggnader i Sverige på grund av att kostnaderna blir mycket högre med tvåledsramar och att det är ett mer komplicerat system i beräkningsarbetet. De viktigaste slutsatserna från jämförelsestudien går att sammafatta som följande: Tvåledsramar är dyrare att använda. Tvåledsramar är ett mer komplicerat system beräkningsmässigt. Traditionen av att använda tvåledsramar finns inte och därför används inte systemet.The project included a comparison study on frame systems. The study investigated framework and truss/beam/column-system and was conducted independently with support of Ramboll AB 's office in Falun. The aim was primarily to examine what differences there are between frameworks with two joints and truss/beam/column-systems for light industrial buildings and try to determine why the truss/beam/column-system is the dominant system in Sweden because the rest of Europe has taken a different development and dominated by framework with two joints. The study examines the differences between the systems in a industrial building with predetermined dimensions in steel.Initially, a literature study was conducted to gain a broader view of the systems and to create a better understanding for the conditions for each system. After the literature study was conducted could a exampelhouse and underlay for the comparison study be developed. A survey study were also conducted and the purpose was to create a clear picture of which system the frame system designers in Sweden usually choose and why. The results of the study showed that frameworks with two joints give an increased cost compared with truss/beam/column-system in material consumption and production, and the calculations become more complicated for the framwork. Should further studies be done with these systems in buildings with other measurements, it might possible to obtain specific measures of buildings where the cost of frameworks with two joints will be the same as for a building with truss/beam/column-system and therefore become an equivalent alternative.An important conclusion of this project is that a framework with two joints is used much more rarely than truss/beam/column-system as frame systems in light industrial buildings in Sweden because the cost will be much higher with a framework with two joints and that it is a more complicated system in the computational work . The main conclusions from comparative study can be summarized as follows: Framwork with two joints is more expensive to use. Framework with two joints is a more complicated system computationally. The tradition of using framework with two joints does not exist and it's therefore the system does not being used.
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Rosales, Evencio A. (Evencio Alex) 1982. "A ball-on-beam project kit." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/32780.
Full textAbstract:
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.Includes bibliographical references (leaf 40).
An apparatus of the classical ball-on-beam problem was designed and constructed to be used as a pedagogical instrument in feedback courses. The aesthetic and mechanical design incorporated economical materials to make kits of this apparatus attractive and cost effective. This thesis describes the design of the apparatus and the design of the two control loops to control the angle of the motor and the position of the ball along the beam. A lead compensator was used in each loop and an additional integrator was used in the motor loop to ensure the beam level when supporting the ball. The motor closed loop was designed for a bandwidth of 25 Hz and the ball loop was designed for 1 Hz. The closed loop control was implemented using a Matlab Simulink model and a dSPACE digital signal processor controller board. The feedback sensor of the motor angle was an encoder mounted to the back of the motor, and the sensor for the ball position was a linear potentiometer resistive element. After multiple iterations and debugging of the ball position sensor, the ball-on-beam system performed successfully, responding well to step commands and disturbances.
by Evencio A. Rosales.
S.B.
9
Zaitouni, Wael K. "Applied Real-Time Integrated Distributed Control Systems: An Industrial Overview and an Implemented Laboratory Case Study." Thesis, University of North Texas, 2016. https://digital.library.unt.edu/ark:/67531/metadc862854/.
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This thesis dissertation mainly compares and investigates laboratory study of different implementation methodologies of applied control systems and how they can be adopted in industrial, as well as commercial, automation applications. Namely the research paper aims to assess or evaluate eventual feedback control loops' performance and robustness over multiple conventional or state-of-the-art technologies in the field of applied industrial automation and instrumentation by implementing a laboratory case study setup: the ball on beam system. Hence, the paper tries to close the gap between industry and academia by: first, conducting a historical study and background information of main evolutional and technological eras in the field of industrial process control automation and instrumentation. Then, some related basic theoretical as well as practical concepts are reviewed in Chapter 2 of the report before displaying the detailed design. After that, the next Chapter, analyses the ball on beam control system problem as the case studied in the context of this research through reviewing previous literature, modeling and simulation. The following Chapter details the proposed design and implementation of the ball on beam case study as if it is under the introduced distributed industrial automation architecture. Finally, Chapter 5 concludes this work by listing several points leaned, remarks, and observations, and stating possible development and the future vision of this research.
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Ignatov, Rouslan. "Gain scheduling via control signal interpolation the ball and beam example." Ohio : Ohio University, 2002. http://www.ohiolink.edu/etd/view.cgi?ohiou1174594778.
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Semsir, Emine Zeynep. "Adaptive Beam Control Of Dual Beam Phased Array Antenna System." Master's thesis, METU, 2009. http://etd.lib.metu.edu.tr/upload/2/12610695/index.pdf.
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In this study, the Dual Beam Phased Array Antenna System designed for COST260* project is upgraded to have the abilities of beam steering, tracking and direction finding by providing the necessary computer codes using C++ Programming Language. The functions of new prototype are tested to verify the operation.
*COST260 project was an adaptive phased array receiving antenna system for satellite communication, which was operating at 11.49-11.678 GHz band.
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Block, Robert E. (Robert Edward). "Electron beam dynamics for the ISIS bremsstrahlung beam generation system." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/76521.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Nuclear Science and Engineering, 2011.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 177-179).
An electron beam transport system was designed for use in the Bremsstrahlung Beam Generation System of the Integrated Stand-off Inspection System (ISIS). The purpose of this electron transport system was to provide for electron beam diagnostics and energy selection while also positioning the electron beam on a target down range. The transport system and its component magnets were designed using the TRANSPORT, Poisson, and Opera 3D codes, as well as several custom Python scripts. By implementing several methods in each part of the design process, it was possible to design the electron transport system to the exact specifications of the ISIS electron beam. This careful and iterative design process was documented in such a way to facilitate future beam transport design both at the MIT Plasma Science and Fusion center and elsewhere. This design process resulted in a beam transport system composed of three irondominated resistive-coil electromagnets. The system was designed for beam momentum up to 60 MeV/c and emittance of order 20 mm-mrad. Through magnetic field simulation and beam transport in 3D, a ID matrix code which tracks individual particles was developed. This code agreed with more detailed beam calculations and should allow for rapid beam simulation during system testing and operation.
by Robert E. Block.
S.M.
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Lazoğlu, İsmail. "Analysis of force system in ball-end milling." Diss., Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/16022.
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Smit, Daniel Gideon Hugo. "Robocup small size league : active ball handling system." Stellenbosch : Stellenbosch University, 2014. http://hdl.handle.net/10019.1/86658.
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Thesis (MEng)--Stellenbosch University, 2014.ENGLISH ABSTRACT: The RoboCup offers a research platform to advance robotics and multi-robot cooperation in dynamic environments. This project builds on work previously done to develop a research platform for multi-robot cooperation at Stellenbosch University. This thesis describes the development of an active ball handling system for a robot in the RoboCup Small Size League (SSL). This was achieved by building on the work done in the previous projects. The hardware for the kicker and dribbler mechanisms on the robot were implemented and tested to characterise their capabilities. The kicker was characterised to control the speed at which a ball is kicked and the dribbler for optimal control over a ball. More accurate movement was required and the Proportional Integral and Derivative (PID) controllers for translational and rotational movement on the robot were improved. The test results show an improvement in straight line trajectory tracking when compared to those of the previous controllers. Dribble control sensors were implemented on the robot for successful dribbling by the robot. This resulted in a significant improvement to the dribbling ability of the robot when these sensors are used. This dribbling ability was compared to the dribbling ability of the robot when no feedback was received from the sensors. Lastly a proposed curved trajectory tracking algorithm was tested by combining translational and rotational movement of the robot. This algorithm showed the capabilities of the robot to follow a curved trajectory with the improved translational and rotational controllers.
AFRIKAANSE OPSOMMING: Die RoboCup bied ’n navorsingsplatvorm om robotika en multi-robot samewerking in ’n dinamiese omgewing te bevorder. Hierdie projek bou voort op werk wat reeds gedoen is om ’n navorsingsplatvorm vir multi-robot samewerking aan die Universiteit van Stellenbosch te ontwikkel. Hierdie tesis beskryf die ontwikkeling van ’n aktiewe balhanteringsstelsel vir ’n robot in die RoboCup Klein Liga (KL). Dit is bereik deur voort te bou op die werk wat in vorige projekte gedoen is. Die hardeware vir die skopper- en dribbelmeganismes is geïmplementeer en getoets om hulle vermoëns te karakteriseer. Die skopper is gekenmerk deur die spoed waarteen ’n bal geskop word en die dribbler vir optimale beheer oor ’n bal. Meer akkurate beweging was nodig en die PID-beheerders vir translasie- en rotasiebeweging in die robot is verbeter. Die resultate van die toetse toon ’n verbetering in reguitlynbeweging in vergelyking met dié van die vorige beheerders. Dribbelbeheersensors is in die robot geïmplementeer vir suksesvolle dribbelbeweging deur die robot. Gevolglik is daar ’n aansienlike verbetering in die dribbelvermoë van die robot wanneer hierdie sensors gebruik word. Hierdie dribbelvermoë is vergelyk met die dribbelvermoë wanneer die robot geen terugvoer van die sensors ontvang nie. Laastens is ’n voorgestelde algoritme vir die robot om ’n geboë trajek te volg, getoets. Dit is bereik deur die translasie- en die rotasiebeweging van die robot te kombineer. Hierdie algoritme het die vermoë van die robot om ’n geboë baan te laat volg deur gebruik te maak van die verbeterde translasie- en rotasiebeheerders.
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Alves, Tânia Sofia Vilaranda. "Stereo vision system for 3D ball trajectory estimation." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/17934.
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Mestrado em Engenharia de Computadores e TelemáticaO sistema de visão humano e um sistema complexo e extraordinário. O ser humano usa o que se denomina por esteropsia para obter uma noção da profundidade dos objectos que o rodeiam. Os dois olhos capturam duas imagens do mundo e o cérebro processa e interpreta a informação capturada. Um sistema de visão estéreo e baseado nesta capacidade. O sistema integra duas ou mais camaras que capturam visões diferentes do mundo. As imagens são processadas para obter informação 3D sobre os objectos e do próprio mundo. Estéreo é uma área importante da visão por computador que e usada em várias aplicações como por exemplo detecção de pessoas, navegação em robôs móveis, automação industrial, veículos de condução autónoma entre outros. Hoje em dia, a visão por computador começa também a ser usada em desporto, nomeadamente futebol, ténis e hockey. O objectivo desta tese é apresentar um sistema de visão estéreo que consiga detectar objectos coloridos em tempo real e estimar a sua trajectória em 3 dimensões. Este documento apresenta os passos necessários para obter um sistema funcional incluindo a calibração das camaras, sincronização de camaras, detecção de objectos e a relação da sua posição nas diferentes camaras. Também apresenta experiências e resultados que confirmam a eficácia do sistema.
The human vision system is a very complex and amazing system. Humans use what is called stereopsis to perceive depth and 3D objects. The two eyes capture two di erent images of the surrounding world and it is the brain that processes and interprets the information captured. A stereo vision system is based on this ability. The system integrates two or more cameras that capture di erent views of the world. The images are processed to obtain information about 3D objects and the world itself. Stereo is an important area of computer vision used in several applications such as people tracking, mobile robotics navigation, industrial automation, automonomous vehicle research and others. Nowadays computer vision is starting to be used in sports as well, namely soccer, tennis and hockey. The main goal of this thesis is to present a stereo vision system that is able to detect colored objects in real time and estimate their trajectory in 3 dimensions. This document presents the necessary steps to have a fully functioning stereo system including camera calibration, camera synchronization, object detection and the relation of the its position in the di erent cameras. It also presents system experiments and results that con rm the e ectiveness of the system.
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Yip, Phillip. "Symbol-based control of a ball-on-plate mechanical system." College Park, Md. : University of Maryland, 2004. http://hdl.handle.net/1903/1571.
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Thesis (M.S.) -- University of Maryland, College Park, 2004.Thesis research directed by: Dept. of Mechanical Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Karlsson, Mikael. "Beam-Forming-Aware Link-Adaptation for Differential Beam-Forming in an LTE FDD System." Thesis, Linköpings universitet, Kommunikationssystem, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129109.
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The ability for base stations to be able to beam-form their signals, directing the signal energy to specific users, is a topic of research that has been heavily studied during the last decades. The beam-forming technique aims to increase the signal-to-interference-and-noise-ratio of the user and, consequently, increase the capacity and coverage of the communication system. One such method is the Differential Beam-Forming technique, that has been developed at Ericsson Research. In this version of beam-forming, the beams can be dynamically sharpened and widened when tracking a specific terminal, to try to optimize the signal energy sent to that terminal. Beam-forming, however, makes the link-adaptation algorithm process substantially harder to perform. The reason for this is that the link-adaptation algorithm now has to take into account not only the changing radio environment, but also the changing transmit signal that is being beam-formed. Fortunately, since the beam-formed signal is known at the point of transmission, there should be a potential to utilize this knowledge to make the link-adaptation more efficient. This thesis, investigates how the link-adaptation algorithm could be changed to perform better in beam-forming setups, as well as what information from the beam-forming algorithm that could be included and utilized in the link-adaptation algorithm. This is done by designing and investigating three new link-adaptation algorithms, in the context of Differential Beam-Forming in an LTE FDD system. The algorithms that has been designed are both of a beam-forming-aware and beam-forming-unaware character, meaning if the beam-forming information is utilized within the algorithm, or not. These algorithms have been simulated for different base station antenna array-sizes. Unfortunately, due to simulator restrictions, the terminals have been simulated in a stationary environment, which has proven to be a limiting factor for the results. However, the results still show that smarter beam-forming-aware link-adaptation could possibly be used to increase the performance of the link-adaptation when using beam-forming.
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Zhang, Sheng. "GPS/INS Combination for a Beam Tracking System." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-10650.
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In recent years, Land vehicle navigation system (LVNS) technology is a subject of great interest due to its potential for both consumer and business vehicle markets. GPS/INS ( Global Positioning System/ Inertial Navigation System ) integrated system is an effective solution to realize the LVNS. And how to keep communication between the vehicle and satellite while the vehicle is running in a bad environment is the main task in this thesis. The thesis provides an introduction to beam tracking system and two algorithms of how to improve the performance, then compare these two algorithms and choose the suitable one and implement it on ArduPilotMega board using Arduino language, at last test the integrated GPS/INS system in practice in order to estimate the performance. The requirements of the project are the maximum angular speed and angular acceleration speed of the vehicle are and , respectively. Two algorithms which are Direction Cosine Matrix (DCM) and Euler Angle are evaluated in the system. In this thesis, there are many rotations due to the hostile environment, and DCM algorithm is not suitable for the requirement according to the results of simulation. Therefore, an innovated method which is Euler Angle Algorithm can be one effective way to solve the probelm. The primary idea of Euler Angle algorithm is to calculate the difference between the reference direction vector and the measurement direction vector from GPS and accelerometers, once there is an error rotation, take the cross product and rotate the incorrect direction vector back to original direction. The simulation results show that by implementing EA algorithm, system requirements can be achievable with a 10kHz update rate antenna and a 4000Hz sampling rate gyroscope, also with EA implementation in ArduPilotMega board, the real system tracking ability can be enhanced effectively.
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Chang, Ching-Cheng, and 張金城. "Dynamic Control of Ball and Beam System." Thesis, 1996. http://ndltd.ncl.edu.tw/handle/31672349757675199841.
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碩士國立臺灣科技大學
工程技術研究所
84
A ball and beam system is a highly nonlinear system and has some uncertainties, the traditional controller can't produce satisfactory control performance. First, we use an input／output linearization method and back- stepping method to control the ball and beam system. Simulation and experimental results show that these two methods have a good performance under small disturbance. However, the control perfor- mance will be degraded under large disturbance. Thus the robust control algorithm is used to control the ball and beam system. A conrrecting quantity is generated to cancel the effect of distur- bance if a priori information about the bounds of the disturbance are known. In order to release this requirement, an adaptive mechanism is used to estimate the bounds of the disturbance. Finally, a fuzzy sliding mode controller is proposed to cotrol the ball and beam system. Simulation and experimental results show that this controller also control the ball and beam system effectively.
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Liang, Chi-Ying, and 梁志穎. "Fuzzy control of ball and beam system." Thesis, 1994. http://ndltd.ncl.edu.tw/handle/80481055126799448576.
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Wang, Hsing-Sen, and 王興森. "Backstepping Control Application to a Ball and Beam System." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/9t6dy4.
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碩士國立成功大學
工程科學系碩博士班
90
A ball and beam system has been built. This system consists of an armature controlled DC motor, a machine platform, a ball, a beam, a position-sensor and a potentiometer. This thesis considers the regulation problem of the ball and beam system. Due to existence of the centrifugal force, the system relative degree is not well defined. Moreover, the centrifugal force provides a strong positive feedback and easily leads to the peaking phenomenon. If the beam angle is not well controlled then the ball may fly off the beam. It will induce incorrect the feedback signal of the ball position, therefore produce error feedback control. In this thesis, the backstepping control approach has been used to design a peaking-free ball and beam system. It is a recursive procedure that interlaced the choice of a Lyapunov function with the design of feedback control, and backstepping control often solves stabilization, tracking and robust control problems under less restrictive conditions. In this thesis, using high-gain control parameters, the effect of the centrifugal force on the closed-loop can be arbitrarily attenuated, and the system reachs global asymptotic stability.
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Huang, Sheng-Tsai, and 黃聖財. "Balance Control of DSP-Based for Ball and Beam System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/dvx33w.
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碩士國立成功大學
工程科學系碩博士班
92
In this thesis, a digital signal processor based (DSP-based) ball and beam control system has been built. This system consists of a mechanism, a motor actuator, sensors and the controller. The mechanism consists of a platform, a beam, a ball and a gear module. An armature controlled DC motor is used. The position-sensor is made up of nichrome resistance and the angular sensor is a photo encoder. A digital controller is realized through floating-point DSP (TMS320VC33, TI), and the peripheral interfaces are designed to accomplish the control operation. Ball and beam is a highly nonlinear system. Due to existence of the centrifugal force, the system relative degree is not well defined. In this thesis, it is shown how to build up a ball and beam system. Then the mathematical model of this system is derived. The backstepping control design approach is used to design the controller for the ball and beam system. It is a recursive procedure that interlaces the choice of a Lyapunov function to discriminate stability with design of the feedback control, and backstepping control often solves stabilization, tracking and robust control problems under restrictive conditions. In this thesis, the backstepping controller can reduce the effect of centrifugal force on the system, and make the system reach globally asymptotic stability. Finally, the control law is implemented using a digital signal processor with programs coded in C language and assembly. It achieves balancing and tracking control of the ball on the beam.
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Yang, Min-Hsuan, and 楊敏瑄. "Intelligent Multirate Based Balance Control for a Ball and Beam System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/28185374312312285693.
Full textAbstract:
碩士明志科技大學
電機工程研究所
97
In this paper an intelligent control rule that blends the classical PID and the fuzzy controllers is introduced to perform the balance ball position control on a typical unstable and nonlinear ball and beam system. As the highly nonlinear and various uncertainties existed in a ball and beam system, it is difficult to apply traditional controller to achieve precise control of the system. To reduce the complexity the system is decoupled into a second-order ball position control system and the same order ball velocity control system. Then the proposed intelligent controller is implemented to control the balance of ball position. The controller parameters such as membership function of the fuzzy controller in the intelligent controller are all well-tuned by trial and error so that a further improved system response performance in both the transient and steady states have been achieved. To alleviate the computation burden of the controller a multirate control technique is induced on the blending mechanism that makes the implementation of controller more realizable. All of the simulation results and lab tests have shown that the proposed controller has provided a good and effective performance on system response. Especially, the decrease in overshoot, the increase in response speed, are the improvements in robustness and all demonstrated in this study.
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Jen, Chang-Chi, and 張棋荏. "Visual Feedback Control of a Robotic Ball-Beam Balance Control System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/5356m9.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
105
This paper proposes a visual feedback control of a robotic ball- beam balance control system. The FPGA system herein includes three modules. One is image processing module which applies image sensor to capture real-time ball-and-beam information and calculates ball position and beam angle. The second module is servo position control module for controlling a 5-axes robot manipulator. The third module is the ball-beam balancing control module. The system is implemented on FPGA and programmed by the Verilog hardware description language (HDL). First, ball position and beam angle are calculated by image processing module. Based on these visual feedback data, PD controller is designed to control the position of end-effector in X-Z plane and the inclination angle of beam. Finally, the joints of the robot manipulator are servo-control through the inverse kinematics so as to balance the ball at desired position.
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Hsieh, Tzu-Wei, and 解子葳. "Implementation of Visual Feedback Ball-Balancing Beam Control System Using FPGA." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/10479239278898242477.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
103
The thesis aims to utilize a FPGA chip for the implementation of the visual feedback ball-balancing beam control system. The FPGA system described herein includes two modules: the image processing module, and a ball and beam balance control module. The image processing module implements the image transformation of the color space, morphological operation, and object color recognition. A ball and beam balance control module is used to achieve balance control the ball and beam use of the PI control and look-up table. The first and second modules are realized on the hardware digital logic circuit programed by the Verilog hardware description language (HDL). The two modules are implemented based on the same FPGA chip. First, the image information captured by the CMOS image sensor and examined by image processing module is employed to detect the tilt angle of the beam and the ball position.Then, the beam is reached to the horizontal position in terms of the use of PI control. Finally, the visual feedback to complete the beam balance control is achieved with the central position of beam followed by a balanced ball as well as with a command value in different angle via a look-up table corresponded with a ball position .
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黃聖凱. "A Ball-Beam Balance Control System Using Fuzzy-Neural Network Algorithm." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/27749296649966711556.
Full textAbstract:
碩士國立臺灣師範大學
機電科技研究所
93
Abstract It is necessary to find the mathematic model of the plant when we design the controller by classical control theory. Hence, the controller’s control ability is related to the plant which can be described accurately or not. If we want to make up intelligent control, it is necessary to get the system’s characteristics. Learning is the first step to achieve intelligent control. From learning, it can reduce the uncertain factor which can influence the dynamic system. Fuzzy control theory uses linguistic information, and it can transform human being’s knowledge and experiments to control rules. It has the better robustness and fault tolerance. Artificial neural network mimics a human brain’s parallel calculation. It has learning capability and it can be applied to system identification and estimate. The control theory combining with fuzzy reasoning system and artificial neural network not only have neural network’s learning capability, but also can build knowledge by extracting information form fuzzy logic. Hence it makes up neural network’s drawback which are always treated like a “black box”. This study utilizes the reasoning and learning ability of Fuzzy-Neural rules, and we will use the Fuzzy inference method to transfer the control behavior which can not be expressed clearly to linguistic Fuzzy rule with manual operation device. We will combine they with Neural Networks to establish a ball-beam balance control system which could assimilate human expertise with less rule and mathematics, and learning capability. Keyword: Fuzzy Inference, Fuzzy-Neural Rule, Ball-Beam Balance Control System.
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Lee, Eric, and 李勝達. "Vision Feedback and BLDC Motor Control - A Ball and Beam System Demonstration." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/40388994328264442788.
Full textAbstract:
碩士國立海洋大學
電機工程學系
90
This thesis is to combine vision feedback and motor control techniques for achieving real-time high precision motion control tasks. We take the ball and beam system, which is a nonlinear and unstable plant, as our test platform.Because the linear control law is hard to achieve control over a large range,we design a hybrid nonlinear control law,and verify the usefulness and practicability of the proposed vision feedback control system.
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Cheng, Yu-Tung, and 鄭宇彤. "Lyapunov Based Controller Design Applied to 3D Rotary Ball and Beam System." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/dy2pd4.
Full textAbstract:
碩士國立交通大學
電控工程研究所
107
This study includes the system structure design and the Lyapunov based controller design for the 3D rotary ball and beam system. The system dynamic model is derived by Lagrangian method. Controller design and computer simulation are based on the system dynamic model. Two controllers, feedback linearization-based and Lyapunov-based, will be designed to solve setpoint problems. Moreover, the Lyapunov based controller is able to deal with the existence of mass uncertainty, which is what the feedback linearization based controller suffers from. With the computer simulation, it can be proved that both the controllers can fulfill the setpoint control goal when the actual dynamic model is known. However, when there exists mass uncertainty within a known range, the Lyapunov based controller shows greater robustness. Furthermore, according to the mathematical property and the computer simulation results, behavior of the Lyapunov based controller can be adjusted by changing certain constants in the controller.
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Hsu, Jung-Hsien, and 許榮顯. "Real-time Visual tracking Based Ball-and-Beam Balance Control System Design." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/35y59g.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
104
This research designs a real-time visual tracking ball-and-beam system via FPGA. The structure of ball-and-beam balance control system includes image processing module and controller module. The system is implemented on FPGA and programming with Verilog. The system applies image sensor to capture the real-time ball-and-beam information, and calculates ball position and beam angle. In this research, we applied system identification, state space equation, PID control, and fuzzy logic control to design controllers. Control performance and FPGA implemented resources are compared from the experiment results. This thesis achieves both the single-point and multi-point ball position control on real-time visual tracking ball-and- beam system.
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Chang, Yen-chu, and 張言竹. "Hybrid Mode Control in Improvement to Magnetic Suspension Ball and Beam System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/00125474272156546392.
Full textAbstract:
碩士國立成功大學
航空太空工程學系碩博士班
97
The development of magnetic suspension technology has been widely applied in high-tech industry. MS has features of contact-free, friction-free, low contamination and low noise. This thesis describes the design and examination of the hybrid MS vibration absorber referring to laboratory’s previous works with analyses to improve the shortage in a newly created MS vibration absorber and system. Each component is designed by Solid Work, which can observe clearly the collocation situation among every component and easily revise and choose the material. The MS vibration absorber is analyzed and controlled by deriving its magnetic force and system state equations. This thesis uses MATLAB/Simulink to simulate the stability and robustness of system, and applies sliding mode control in the balance and stable the classic ball and beam system. The drive circuit and MS vibration absorbers are controlled by the microcontroller in ball and beam system, and it accomplishes the mechatronics. The stable control of system is to derive the dynamic equation of ball and beam system and uses SMC to simulate. The combined SMC and FLC are used to control the adjustable stable position. This thesis test separately for different situations and the results are conformed to desired responses. Finally, comparison and analyses of the results in laboratory have presented good improvements on the proposed system.
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Chih-Kai, Yang, and 楊智凱. "Design and Implementation of an Image Servo Controller of Ball on Beam System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/65015274482131791450.
Full textAbstract:
碩士國立彰化師範大學
電機工程學系
92
This thesis proposes a control strategy based on the image servo method for a ball-on-beam system. The beam actuator is an AC servo motor. A CCD camera is used to acquire the ball-on-beam system image in which the ball position and the beam angle are obtained using the proposed image processing algorithms. This ball-on-beam system is implemented on a personal computer using an image processing program, a system compensator program and a motion control program. These programs were designed using LabVIEW. To overcome the influence of environmental lighting, the image processing method includes image enhancement and histogram equalization. Edge detection and template pattern methods are utilized to measure the ball position on the beam and the beam angle. After image processing, the ball position signal is fed to the compensator program, which combines the beam angle signal into the motion control program to control the AC servo motor that drives the beam motion. These sequences control the ball moving to and fixing at the balance point on the beam in real-time. In the ball-on-beam system servo control image the balance point can be set at any point on the beam because the balance point is not restricted by the hardware. The ball-on-beam system control models with image servo are therefore more flexible. The experimental results demonstrate that the proposed image servo method is effective and efficient for a ball-on-beam system.
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CHEN, YAO-MIN, and 陳耀民. "Self-Organizing Fuzzy Logic Controller Design and Its Application on Ball and Beam System." Thesis, 1992. http://ndltd.ncl.edu.tw/handle/46961160874086669397.
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Wu, Chien Kuo, and 吳建國. "Design and Implementation of Fuzzy Neural Network Based Position Controller for Ball-and-Beam System." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/72105175968091351031.
Full textAbstract:
碩士長庚大學
電機工程學系
99
The goal of this thesis is to design a balance controller for a ball and beam system, where an inner-outer loop approach is adopted. In the inner loop, a neural fuzzy controller is considered, whereas a fuzzy control is addressed in the outer loop. In order to improve the control performance, the parameters of the inner loop controller can be on-line tuned by a back propagation algorithm. A CompactRIO based embedded experimental system will be constructed to verify the effectiveness of proposed techniques. In addition to the digital control kernel, the function modules of the experimental setup include the analog input, digital input and DC motor driver. Furthermore, a lookup table is utilized to simplify the computation of a Gaussian function for the purpose of real time implementation. From simulation and experimental results, the proposed control scheme can provide better control responses compared to the traditional fuzzy control.
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Lin, Jia Wei, and 林嘉偉. "Fuzzy Controller Design for Ball and Beam Systems with Ant Colony Optimization." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/94220311506288299383.
Full textAbstract:
碩士長庚大學
電機工程學研究所
96
The main purpose of this thesis is to improve the drawbacks of conventional ant colony optimization (ACO) algorithms. A fuzzy-logic based pheromone updating mechanism is proposed to improve the problem of long convergent time. In addition, a random clear mechanism is adopted to avoid getting stuck in local optimums. Compared to other ACO algorithms, typical traveling salesman problems are utilized for performance evaluation, where a better rate in finding the shortest path can be obtained with the proposed algorithm. Finally, the improved ACO algorithm is applied to a ball and beam system to generate the optimal membership functions of fuzzy ball position and beam balance controllers, respectively. Simulation and experimental results illustrate that a better ball and beam stabilized balance can be obtained with the comparison of other ACO algorithms.
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CHIN-LUNG, WEI, and 魏金龍. "Feedback Linearization to The Tracking and Almost Disturbance Decoupling Control Problem of a Ball and Beam System." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/87787667785801924527.
Full textAbstract:
碩士國立中興大學
電機工程學系
91
This paper studies the tracking and almost disturbance decoupling problem of nonlinear ball and beam system on the feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the influence of disturbances on the output tracking error can be arbitrarily attenuated by changing some adjustable parameters. Two examples, which cannot be solved by the paper (Marino et al., 1989) on the almost disturbance decoupling problem, are proposed in this paper to exploit the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach. The experimental results of nonlinear AMIRA’s ball and beam system based show that our proposed approach has achieved the almost disturbance decoupling performance perfectly.
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Lin, Chia-Fu, and 林嘉富. "The designed of fuzzy controller assisted by the genetic algorithm and it's application to the Ball-Beam system." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/82854809897096613128.
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Pan, Yung-Chih, and 潘勇誌. "Integration of a Motion Sensor and Laser-Ranging Sensors with an Application in Ball-Beam Trajectory Tracking Control System." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/kh2ksj.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
106
This thesis proposes utilizing a motion sensor and two laser-ranging sensors with an application in ball-beam control system to implement set-point and trajectory tracking control. To obtain accurate beam angle, a complementary filter is used to fuse the data measured by the motion sensor containing an accelerometer and a gyroscope. The ball position is measured by two laser-ranging sensors placed at both ends of the beam, and a Kalman filter is used to smooth the measurement data. This thesis first studies the mathematical model of the ball-beam system. In addition, this research discusses the feasibility assessment and integration of various sensors. Finally, two controllers, PD-PI and LQR-PI, are designed and their performance is verified via the experiments of single-point position control, multi-point position control and trajectory tracking control.
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Lee, Chun Yi, and 李俊毅. "Design and Implementation of Interval Type-2 Fuzzy Neural NetworkController for Ball and Beam Systems." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/55838516968572585521.
Full textAbstract:
碩士長庚大學
電機工程學系
98
This thesis mainly addresses the balance control of a ball and beam system, where a cascade inner- and outer-loop control scheme is adopted. In the inner-loop, an interval type-2 fuzzy control is used, while a type-1 fuzzy control is utilized in the outer-loop. In general, the interval type-2 fuzzy logic can deal with the linguistic and numerical uncertainties. However, the computation complexity of type reduction will be increased as the increase of rules. In this thesis, to reduce the type-reduction complexity, the procedures of sorting and finding extreme values are simplified. In addition, a look-up table is adopted to replace the associated computation of Gauss functions. To improve the capability for dealing with uncertainties, a neural network learning mechanism is utilized to tune the parameters of the type-2 fuzzy controller. The proposed control scheme will be implemented in a ball-and-beam experimental system. The simulation and experimental results indicate that the proposed control scheme can provide better balance performance than the counterparts of conventional type-1 controller and interval type-2 controller without a learning mechanism.
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Chang, Li Han, and 李漢昌. "Action-Dependent Heuristic Dynamic Programming-Based Self-Learning Balance Control System-The Example of Cart-Pole and Beam-Ball Balance Problems." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/81319277012680380620.
Full textAbstract:
碩士佛光大學
資訊學系
97
Machine learning is one important part in the field of artificial intelligence. And the realization of Machine learning gradually becomes possible with the advance of technology. Aiming at machine self-learning, this thesis used to approximate Reinforcement learning to design the Self-learning balance control system. This study took ADHDP (Action-Dependent Heuristic Dynamic Programming) of Adaptive critic designs as the structure of Self-learning balance control system, and carried out an experiment in the self-learning cart-pole balance problem and bean-ball balance problem. The cart-pole balance and the bean-ball balance are the typical problems as far as the control theory is concerned. Because the structure of balance system is not complicated, they’re broadly applied to various control theory experiments and academic researches. In this research, the process of the system’s self-learning balance is represented by computer simulation. The system’s simulation interface is written with MATLAB. The study result indicates that the ADHDP-based self-learning balance control system is able to learn quickly, in the condition of any primary system, the cart-pole balance system and the beam-ball balance system.
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Τανταρούδας, Νικόλαος-Δημήτριος. "Γραμμικοποίηση εισόδου-κατάστασης και εισόδου-εξόδου μη γραμμικού συστήματος σφαίρας-ράβδου." Thesis, 2011. http://nemertes.lis.upatras.gr/jspui/handle/10889/4684.
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Στη παρούσα διπλωματική μοντελοποιείται το σύστημα σφαίρας ράβδου. Εξάγεται το μοντέλο στο χώρο κατάστασης και υλοποιείται γραμμικοποίηση εισόδου κατάστασης και εισόδου εξόδου. Βρίσκονται προσεγγιστικοί νόμοι ελέγχου για το μη γραμμικό σύστημακαθώς παρουσιάζει ιδιομορφία.This diploma thesis includes the analysis of the nonlinear system of a ball-beam and the design of different control laws. Initially, we present the physical system and we derive the mathematical model from the lagrange equation.The nonlinear system fails to be stable with the classic linear control laws and we try to stabilize it by input-state and inputoutput linearization. The ball beam system fails to be controlled by full state linearization and we proposed some approximations for inputoutput linearization. We describe in detail how we can derive the approximate control laws and through simulation we are capable of choosing the best suitable control law. We propose a switch-controller for the nonlinear system which is vital for systems with undefined relative degree and are not input state linearizable.
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Gonçalves, Pedro Henriques Ferreira. "Kit didáctico Ball and Beam." Master's thesis, 2001. http://hdl.handle.net/10400.26/22279.
Full textAbstract:
Neste trabalho é apresentado um kit didáctico ball and beam totalmente construído no Instituto Politécnico de Tomar, para aplicar nas aulas de Controlo da Instituição.
Para cumprir esse objectivo construiu-se de raiz uma estrutura de suporte mecânico. Esta estrutura tem como finalidade apoiar a calha, que é constituída por tubo PVC apoiada num suporte de alumínio. Foi também criado um suporte para o motor DC com uma engrenagem que foi devidamente acoplado ao veio principal para que a calha se pudesse mexer verticalmente.
Foram calculadas as relações das engrenagens para optimizar a mobilidade do processo bem como a posição ideal de cada uma das componentes.
Por meio de um DAQ é possível capturar os sinais de todo o processo que são enviados por fios de alta impedância e potenciómetros multivoltas. É também através desse DAQ que são enviados para o circuito de drive do motor, para que este ajuste o PWM em função da posição da bola, ou que inverta a rotação de maneira a que vire para a esquerda ou apara a direita.
Foi usado o Simulink® da Matlab com a toolbox de DAQ’s para controlar o processo e para numa fase prévia testar o modelo.
O circuito é alimentado por apenas uma fonte de alimentação que alimenta a drive do motor, os fios resistivos e o potenciómetro. O DAQ é alimentado pelo interface externo USB do computador.
Os modelos de controlo foram feitos de raiz e optimizados para o processo construído.Instituto Politécnico de Tomar
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LI, SHENG-HUA, and 李勝華. "Analysis of structural modification for socket-ball connected beam gridworks." Thesis, 1990. http://ndltd.ncl.edu.tw/handle/19697324470981968728.
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Pai, Kai-Jen, and 白凱仁. "A Ball Type Projection System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/41446055275771932782.
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碩士醒吾科技大學
資訊科技系所
101
A ball type projection system using image projection was developed in this research. A panoramic image with 180 to 360 degree projection angle was mapping on a polystyrene foam ball using the multi-projection system. Due to the distortion of non-plane projection screen, the ball filter was used for image calibration which included size, perspective and rotation. The images gradient re-scalar was conducted for images diffusion stitch. It just needs very simple equipments to finish complicated project system in this way. This result could be used in, academic applications, exhibition, advertisement, high resolution project image, visual reality, augmented Reality.
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Zhan, J. H., and 詹嘉豪. "A New Ball And Beam Like Mechanism Using Pneumatic Power Control." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/53894311858655206859.
Full textAbstract:
碩士清雲科技大學
機械工程研究所
95
The ball and beam system is a common undergraduate control laboratory experiment. Generally, the ball and beam mechanism consists of a beam and a ball on it. The ball is rolling on the beam according to the changing angle of the beam. With our ball and beam like mechanism the ball is replaced by a cart, which slides on the pneumatic cylinder (beam). Here we define this new mechanism as a cart-seesaw system. The cylinder is a double-acting one with carrier bracket on which a cart has been pinion mechanism to tracks. The task of the ball and beam like experiment is to bring the cart to from any initial position to a desired position on the beam by applying an appropriate force to the cart and thereby changing the angle of the beam. The position of a cart represents the first degree of freedom, which is activated by a pneumatic proportional valve and the angle of the beam represents the second degree of freedom that is not actuated. Consequently, the proposed new pneumatic care-seesaw system is simple to construct and direct to operate in different scenarios of performance. A state feedback controller is applied for stabilization of the equilibrium point of the system. Moreover, this work adds a supervisory controller that takes control action in extreme situations. Thus, the test results show excellent characteristics in control performance. The new prototype has developed in the Sensor and Control Laboratory of the Department of Mechanical Engineering of Ching Yun University. However, the proposed product in this paper can be extensively application in ball and beam equipment and pneumatic control for control laboratory.
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Lu, Jun-Ming, and 呂俊明. "Ball and Wheel System Balance Control." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/43930864635802796390.
Full textAbstract:
碩士國立成功大學
工程科學系碩博士班
91
The ball and wheel system is an unstable nonlinear system. The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes .This system is consist of a ball on the wheel. The feedback signal is provided by a photo sensor which detects the angle of the ball. The control objective is to control a DC motor to drive the wheel to keep the ball staying on the wheel. In this thesis , it is shown how to build up a ball and wheel system. Then the mathematical model of this system is derived. The resulting model is then converted into a Lur’e system. The PID controller is used to achieve the control objective. The circle criterion is then used for analyzing closed-loop stability and designing the controller. Finally, the PID controller is implemented through the analog circuits. It is shown that the simulation results validate the experimental results.
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Fan, Shian-Yi, and 范先毅. "Research of Air-Ball-Suspension System." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/06446903861413529200.
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博士義守大學
電機工程學系
104
The magnetic suspension ball system is researched for many years. The new air-ball-suspension system different from the magnetic force is developed in this manuscript. The non-symmetric and time delay phenomena will be shown in this system. For complex of the modeling, the piece-wised approximated grey model is used to establish the pseudo model. Based on the pseudo model, the integral variable structure control is used to guide the sliding motion. Finally, the experimental results show the proposed control scheme practical performance.
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Yang, Ching Hsiang, and 楊慶祥. "Design of float ball position control system." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/04214322631309336223.
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碩士國立臺灣師範大學
工業教育研究所
90
Differentiable Cerebellar Model Articulation Controller owning the good ability of generalization is a very useful study system. and Fuzzy Sliding Mode Controller when it is used doesn''t need to know the mathematics mode of the plant in advance, therefore it can be used to solve control system, which information is not complete. The plant has from pure thing to complex organization thing, these things which is controlled may be come across every kind of disturbance, and the different control thing have different control characteristics, therefore the plant has to be give the correct control method, then it will obtain the good control quality. Base on above-cited, the controller which be designed in this paper must use the error、delta of error and consider the controller which owning ability of integral, can be used to float ball position control, and Differentiable Cerebellar Model Articulation Controller and Fuzzy Sliding Mode Controller can to satisfy on the conditions above, so that they be chose. The control system which is designed in this paper, firstly the output position of the float ball compares with the expected position of the float ball, then obtaining its error and variety quantity, after being calculated by Differentiable Cerebellar Model Articulation Controller and Fuzzy Sliding Mode Controller respectively, and transmitting control value to the control system of the float ball simultaneously, then the float ball can reach the expected position as soon as possible and stability, so that the response speed and the response ability of the controller system can be improved.
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Wang, Wei-Jei, and 王偉杰. "Surface Inspection System for Miniature Steel Ball." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/nn847q.
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碩士國立臺北科技大學
工業工程與管理研究所
103
Precision ball are mainly used in precision bearings precision industrial manufacturing. A good quality ball determines the life of machinery and equipment, the surface defects also become the need of sophisticated detection products. There are dishing the ball blemishes, scratches, rust and metal fatigue cracking or ball-body aircraft due to minute and a ball-type structure, for minor surface defects not easily detected, so this study use a camera to capture images continuously to detect the missing rate lower. The main purpose of this study on precision ball machine vision for analysis and detection of surface defects. Ball has more two-dimensional plane, the use of the detection camera to take more images, processing techniques to distinguish defects image enhancement features, and includes circuit integration, access to materials of the bodies and institutions in order to complete the entire ball detection system by a smaller hardware equipment.
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Chang, Kai-Ping, and 張凱評. "The Study of Ball-mounting Delivery System for Anti-Mixed Solder Ball Placement Process." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/tvxwnw.
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碩士國立高雄大學
電機工程學系--先進電子構裝技術產業研發碩士專班
105
This thesis is the equipment of semiconductor packaging – automatic ball mount machine as a case study,the purpose of this study to improve the ball mixing risk in the ball grid array placement products by increasing the ratio of equipment to fade mechanism function.In the ball placement process,some of them are hard to make out the differences from the appearance and size when the solder ball placed products.Actually,the types,characteristics and the composition of the solder balls are very different.Because of using wrong materials with human negligence,it resulted in a large number of scraped products and injuring the reputation of the company in the past. Therefore, it is necessary to build the mechanism of the anti-mixing balls.On account of using inappropriate method before, the outcome was often ineffective, so that the ball mixing in the ball placement process was endless. Through the experimental data analysis, the unusual ball mixing with human negligence does never happened again after installing the automatic solder ball alignment device. Therefore, the effects of anti-mixing ball device is significant, and it must be one of the essential functions for the ball placement machine in the future.
50
Hung, Zang-Yo, and 洪宗佑. "Tolerance Allocation Analysis of Ball Screw Feeding System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/06673876465384868644.
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碩士雲林科技大學
機械工程系碩士班
98
This research is concerned with tolerance allocation analysis of ball screw feeding system. Building the tolerance allocation relationship and developing an allocating calculation tool of machine by the tolerance allocation method. Then analyze the calculated data to search the best tolerance combination with different accuracy requirement conditions under the error range limit. Afterward, the result can be applied to give the assembly errors in advance, and then proceed to assignment for designers and workers, providing a better method of tolerance design.