Brief model characteristics

• non-linear dynamic MIMO system with two inputs and two outputs
• the system goal is to place ball into desired position using leaning plate
• suitable for study and experiments related to the classical and modern theory of control of dynamic systems
• control tasks are simulating various problems from field of robotics (trajectory planning and tracking) with an advantage of visual response
• systém is directly available from Simulink enviroment in Matlab in real-time using installed Real TIME Toolbox
• C programming language libraries and demo software pack for PID control and state-space algorithms

Gallery

Model - Mechanical construction

• The model consists of plate leaning about its central axis, two independent stepper motors, CCD camera and ball
• The model's input signals are do modelu sú voltages u_α and u_β, which control both stepper motors. Stepper engines cause that plate lean to desired angles α and β, which are directly proportional to input voltages. The output of the model is ball's position captured by the camera. From pictures taken, using the the image recognition algorithm are computed the positon coordinates y_x and y_y .
• Model is comunicating with exterior enviroment by multifunctional input/output PC Lab card MF614, for which is possible to write / read data using the Real Time Toolbox functions.

Img.1.: Mechanical construction of the model - scheme

Model - System definition

• Control inputs

• input voltage u_x for stepper motor that lean the plate in x axis
• input voltage u_y for stepper motor that lean the plate in y axis

• Fault inputs

• inpact of unmeasurable faults d_x, d_y,

• Measured outputs

• ball's position in x axis y_x
• ball's position in y axis y_y

Img.2.: System definition of the model

Using the model in pedagogy

• courses

• Optimal and Nonlinear systems (1st grade master degree)
• Control and Artificial Intelligence (1st grade master degree)

• bachelor thesis

• JAJČIŠIN, Štefan: Modelling and Control of Dynamic Systems in Matlab/Simulink
  (supervisor and consultant: doc. Ing. Anna Jadlovská, PhD.) - 2008
• DOLINSKÝ, Kamil: Návrh a realizácia programových modulov pre modely dynamických systémov
  (supervisor and consultant: doc. Ing. Anna Jadlovská, PhD.) - 2008
• ŠMELKOVÁ, Klaudia: Aplikácia moderných metód riadenia na laboratórny model gulička na ploche
  (supervisor and consultant: doc. Ing. Anna Jadlovská, PhD.) - 2010
• MATYS, Matúš.: Návrh prediktívneho riadenia modelov fyzikálnych systémov s využitím MPC a MPT Toolboxov
  (supervisor: doc. Ing. Anna Jadlovská, PhD, consultant: Ing.Štefan Jajčišin.) - 2011
• KUNDRÁT, Štefan.: Aplikácia MPT Toolboxu v modelovaní a riadení nelineárnych systémov
  (supervisor ZP: doc. Ing. Anna Jadlovská, PhD, consultant: Ing.Peter Šuster.) - 2011

• master thesis

• :

Using the model in research

• PhD works

• ŠUSTER, Peter: Návrh efektívnych softvérových nástrojov pre riadenie a analýzu nelineárnych systémov
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2012 (zatiaľ neobhájená)
• LONŠČÁK, Richard: Inteligentné modelovanie a riadenie zložitých systémov
  (supervisor: doc. Ing. Anna Jadlovská, PhD.) - 2009

• publications

• 2010
  BENETIN, M. - JADLOVSKÁ, A.: Návrh a simulácia riadenia virtuálneho modelu fyzikálneho systému Gulička na tyči. In: Electrical Engineering and Informatics : Proceeding of the Faculty of Electrical Engineering and Informatics of the Technical University of Košice : September, 2010, Košice, Slovak Republic. - Košice : TU, 2010 S. 535-539. - ISBN 978-80-553-0460-1, (AED) (in Slovak)
• 2009
  JADLOVSKÁ A. - JAJČIŠIN, Š. - LONŠČÁK, R.: Modelling and PID Control Design of Nonlinear Educational Model Ball & Plate. Editors: Fikar, M., Kvasnica, M., In: Proceedings of the 17th International Conference on Process Control ’09, Štrbské Pleso, High Tatras, Slovakia, 2009, pp. 475–483, ISBN 978-80-227-3081-5.
  JADLOVSKÁ, A. – DOLINSKÝ, K. - LONŠČÁK, R.: Application of DesignedProgram Modules in C# Language for Simulation of Models of Dynamic Systems, Editors: Fikar, M., Kvasnica, M., In: Proceedings of the 17th International Technical Conference on Process Control ’09, Štrbské Pleso, 2009, High Tatras, Slovakia, pp. 534–547, ISBN 978-80-227-3081-5
  SARNOVSKÝ, J.-HLADKÝ, V .- JADLOVSKÁ, A. - POPOVIČ, Ľ.: Modelovanie, riadenie a simulácia výukového modelu Gulička na ploche, In: Odborný seminár Nové trendy v kybernetike, automatizácii a informatike, CD-ROM, Gabčíkovo, Slovenská republika, 7.-9.9. 2009, ISBN 978-80-227-3107-2 (in Slovak)