6. semester
Projekttitel: |
The Balancing Rod |
Synopsis: |
This project deals with the development of controllers to the
scientific laboratory setup ``The Balancing Rod''.
The project is focused on balancing a rod in one plane. The
rod is mounted on an arm, which is mounted on a gear connected to a
DC-motor.
By means of an A/D data acquisition card, the angles of the arm and
rod are measured, together with the rotational speed of the motor.
From these inputs, the necessary motor voltage is calculated and
applied.
A linear model of the system is developed, for designing the
controllers. To simulate the controllers a nonlinear model is
developed. Parts of both models are verified using the Senstools toolbox.
Afterwards a classic controller and an optimal controller are designed.
While the first of these is designed by the principles of classical
feedback control, the latter is designed using state space analysis. Both
controllers are simulated in Simulink prior to reallife testing in the
control lab.
By means of a graphical user interface it can be chosen, which
controller to use. It is also possible to change the reference point of
the arm, and observe the position and angle of the arm and rod.
Through testing it became evident that both controllers are capable
of balancing the rod. However, none of the controllers can balance the
rod while maintaining the arm angle within the desired $\pm 5^{\circ}$
of the selected operating point. This is due to an unexplained phenomenon, that
makes the arm drift from side to side.
The optimal controller appears to be more ``stable'' than the classic
controller, and hence is considered the best controller for this
particular system.
The features for changing the operating point and ascending the rod
from rest to pointing upwards, are only implemented with the optimal
controller.
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