engleski

A pneumatically actuated ball and beam system

A ball and beam balancing mechanism actuated by a pneumatic rotary drive is presented in this paper. A laboratory model of the pneumatically actuated ball and beam system has been developed within student projects during the courses related to mechatronics and automatic control. A mathematical model of the nonlinear system is carried out using Lagrange’ s equations. The model is linearised at the equilibrium point, and the linear model has been implemented for the design of control algorithms. The cascade PD controller and the optimal linear quadratic regulator have been applied and experimentally verified. The utilization of a pneumatic actuator introduces additional dynamic terms and nonlinear effects, and that makes the balancing mechanism even more difficult to control. The methods discussed in this paper have good potential for other demanded control techniques and offer great possibilities for a better understanding of theoretical and practical aspects of nonlinear system control.

ball and beam system; pneumatic rotary drive; cascade control; state feedback control; laboratory experiment

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