A Leveling Control Media Prototype in Automatic Control

Abstract

In order to study the control theory, students need to learn about basic theories that are sometimes difficult to understand. Only in-class lecturing is not enough, and hand-on practices are very important, in which theory and practice can be integrated to create knowledge and skills simultaneously. Although there are many learning tools available for practicing with sample exercises, they are not enough for students to understand properly especially in the subject that are abstraction and requires imagination. This paper presents a didactic tool for a study of leveling control system which maintains the surface level using multiple sensors including IMUs and ultrasonic sensors, and multiple models including digital filters, coordination, digital automatic control, and kinematic model. The data obtained from the IMU are used to calculate the tilt angle using the complementary filter method, and from the ultrasonic sensors are used to find the distance between the platform and ground using low-pass filter. The difference tilt from both roll and pitch angles and the distance are used to control the tilt angle and the correct distance using the PID controller. This system can be used to study IMU sensor functions, digital signal processing and digital controller as well, and will enable students to understand and use the sensor system to easily create automatic control systems in the future.