球平衡系统:演示最佳控制的教育装置

2005 International Symposium on Computational Intelligence in Robotics and Automation Pub Date : 2005-06-27 DOI:10.1109/CIRA.2005.1554306

J. Kostamo, H. Hyötyniemi, P. Kuosmanen

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引用次数: 6

摘要

反馈和控制的基本思想并不难理解。然而，以娱乐和吸引人的方式展示控制技术是一个有趣的挑战。本文所设计的滚珠平衡装置是为研究和展示而研制的。控制设计问题的解决是基于过程的物理模型和现代控制理论。采用线性二次型调节器控制过程，并采用卡尔曼滤波估计球的状态。采用机器视觉测量滚珠的位置，并采用直线伺服电机作为执行机构。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Ball balancing system: an educational device for demonstrating optimal control

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.

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2005 International Symposium on Computational Intelligence in Robotics and Automation

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