Brief model characteristics

• non-linear dynamic MIMO system with two inputs and two outputs

educational laboratory model, suitable for verification of:

• algorithms of analytical and experimental identification of dynamic systems
• algorithms of the classical (PID/PSD), but also the modern control theory (state optimal control - LQ, model-based predictive control - MPC)

the aims of control are:

• stabilization of the ball to the required position on the plate
• the reference trajectory tracking

• The experimental workplace consists of the model Ball & Plate B&P_KYB, webcam, the power source of model B&P_KYB, computer with the software Matlab/Simulink and Microcontroller, which provides transmission of signals between computer and real model B&P_KYB through the serial interface RS232. The workplace provides the background for testing wide range of control algorithm.

Obr.1 Experimental workplace

Gallery

Model - Mechanical construction

• The model consists the ball and two independent servomotors, which are leaning the plate around its central axis and the webcam, which determines the position of the ball.
• Servomotors are controlled by input signals of the model u_x a u_y [MU], what influence tipping of plate to the desired position α or β[rad]. The output of the model is captured position of the ball through the webcam. According to captured pictures from webcam and the use of image recognition algorithm the position coordinates of the ball y_x a y_y are computed.
• Model communicates with computer through the microprocessor using serial interface RS232.

Img.2.: Mechanical construction of the model - scheme

Model - System definition

• Control inputs

• input signal u_x for servomotor, that lean the plate in x axis
• input signal u_y for servomotor, that lean the plate in y axis

• Fault inputs

• influence of unmeasurable faults z_x, z_y,

• Measured outputs

• ball's position in x axis: y_x [m]
• ball's position in y axis: y_y [m]



Img.3.: Inputs and outputs of the dynamic model Ball on plate B&P_KYB

Comparison of laboratory models B&P_CE151 (L513) and B&P_KYB (V142)

CE151	B&P_KYB
-> communication between computer and real model B&P_CE151 through the labcard MF614	-> communication between computer and real model B&P_KYB through the microprocessor using serial interface RS232
-> the use of functions of REAL TIME TOOLBOX for communication with real model	-> the use of functions of Matlab appointed for communication with the use of the serial interface RS232
-> the use of Image Processing toolbox for image recognition of ball‘s position through the CCD camera	-> Image recognition of ball’s position using OpenCV library through the webcam - Logitech 1.3 MP Webcam C300

Using the model in pedagogy

• courses

• Simlation systems (2st grade bachelor degree)
• Optimal and Nonlinear systems (1st grade master degree)
• Control and Artificial Intelligence (1st grade master degree)

• bachelor thesis

• master thesis

• MATYS, Matúš.: Predictive control of models of physical systems
  supervisor: doc. Ing. Anna Jadlovská, PhD, consultant: Ing.Štefan Jajčišin.) - 2013

Using the model in research

• PhD works

• publications