DOI:

https://doi.org/10.14483/22484728.9871

Publicado:

2014-12-28

Número:

Vol. 8 Núm. 2 (2014)

Sección:

Visión Investigadora

Ball & beam control system using matlab and lego nxt

Autores/as

  • Daniel Leonardo Mariño Lizarazo
  • Jose Antonio Tumialan Borja

Palabras clave:

State observers control, Ball & Beam, NXT LEGO, BricxCC. (es).

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Resumen (es)

The LEGO Mindstorms NXT, are being used today in graduate and undergraduate courses especially on issues related to robotics and control, but in other engineering issues, such as data acquisition and signal filtering can be easily used to strengthen the understanding of those concepts in the labs . These practices require physical educational tools should be inexpensive, easy to use and multi -purpose application form that encourages student learning. In the present study we use only LEGO Mindstorms NXT (Ball & Beam) as a training platform, but not imitating the same commercial kits approach because it presents a typical problem of ball and beam control. The prototype was built and instrumented with sensors and actuators LEGO standard for subsequent modeling, identification and simulation using the Matlab R software. Three controllers were designed, the first is a cascade control and the other two are state space observer’s control (feedback: proportional and integral). Once simulated controllers are implemented in software using BricxCC prototype, where the results were satisfactory, showing the balance of the ball to the three controllers, each different features presented in steady state and a settling time that varies between 1.5 and 3 seconds

Referencias

I. A. Morelato, R. A. O. Nascimento,.J.A.A.D’abreu, M.A.F. Borges. “Avaliando diferentes possibilidades de uso da rob´otica na educa¸c˜ao” - Robotics In Education: Evaluation of possible uses. REnCiMa, v. 1, n. 2, jul/dic 2010, pp. 80-96,.

F. M. Kerber; A. L. Guedes; F. L. Guedes. “Experimentando a tecnologia LEGO MINDSTORM”. SULCOMP Proceedings, Vol. 5, No. 1, septiembre 2010. [ En l´ınea], disponible en:

http://periodicos.unesc.net/index.php/sulcomp/article/view/272/280

W. Yu. “Nonlinear PD Regulation for Ball and Beam System”, International Journal of Electrical Engineering Education, Vol. 46, No. 1, Octubre 2012, pp. 59–73.

X. Li, and W, Yu. “Synchronization of Ball and Beam Systems with Neural Compensation”, International Journal of Control, Automation and Systems, Vol. 8, No. 3, 2010, pp.491-496.

W. Hongui, T. Yantao, F. Siyan and S. Zhen. “Nonlinear control for output regulation of ball and plate system”. Proceedings of the 27th Chinese Control Conference, Kun- ming, July. 2008.

W. Yu, F. Ortiz. “Stability analysis of PD regutation for ball and beam system”, IEEE Conference on Control Applications,Toronto, Agosto, 2005, pp. 517-522.

S.K. Oh, H.J. Jang, y W. Pedrycz. “The Design of a Fuzzy Cascade Controller for Ball and Beam System: A Study in Optimization with the Use of Parallel Genetic Algorithms”, Engineering Applications of Artificial Intelligence, Vol. 22, No. 2, 2009, pp. 261–271.

P.T. Chan, W.F. Xie and A.B. Rad. “Tuning of Fuzzy Controller for an Open-loop Unstable System: a Genetic Approach”, Fuzzy Sets and Systems, Vol. 111, No. 2, January 2000, pp. 137–152.

Z.H. Pang, G. Zheng and C.X. Luo. “Augmented State Estimation and LQR Control for a Ball and Beam System”, Proc. of the 6 th IEEE Conference on Industrial Electronics and Applications (ICIEA), June 2011, pp.1328-1332.

H. Wang, Y. Tian, Z. Sui, X. Zang and C. Ding. “Tracking control of ball and plate system with a double feedback loop structure”. Proceedings of the International Conference on Mechatronics and Automation, Kunming, July. 2008, pp. 1114–1119.

S. Dom´ınguez, P. Campoy, J. M. Sebasti´an, A. Jim´enes. “Control en el espacio de estado”. 2a ed. Espa˜na: editorial Pearson Prentice Hall, 2006, pp. 299-300.

Cómo citar

APA

Mariño Lizarazo, D. L., y Tumialan Borja, J. A. (2014). Ball & beam control system using matlab and lego nxt. Visión electrónica, 8(2), 39–48. https://doi.org/10.14483/22484728.9871

ACM

[1]
Mariño Lizarazo, D.L. y Tumialan Borja, J.A. 2014. Ball & beam control system using matlab and lego nxt. Visión electrónica. 8, 2 (dic. 2014), 39–48. DOI:https://doi.org/10.14483/22484728.9871.

ACS

(1)
Mariño Lizarazo, D. L.; Tumialan Borja, J. A. Ball & beam control system using matlab and lego nxt. Vis. Electron. 2014, 8, 39-48.

ABNT

MARIÑO LIZARAZO, Daniel Leonardo; TUMIALAN BORJA, Jose Antonio. Ball & beam control system using matlab and lego nxt. Visión electrónica, [S. l.], v. 8, n. 2, p. 39–48, 2014. DOI: 10.14483/22484728.9871. Disponível em: https://revistas.udistrital.edu.co/index.php/visele/article/view/9871. Acesso em: 28 mar. 2024.

Chicago

Mariño Lizarazo, Daniel Leonardo, y Jose Antonio Tumialan Borja. 2014. «Ball & beam control system using matlab and lego nxt». Visión electrónica 8 (2):39-48. https://doi.org/10.14483/22484728.9871.

Harvard

Mariño Lizarazo, D. L. y Tumialan Borja, J. A. (2014) «Ball & beam control system using matlab and lego nxt», Visión electrónica, 8(2), pp. 39–48. doi: 10.14483/22484728.9871.

IEEE

[1]
D. L. Mariño Lizarazo y J. A. Tumialan Borja, «Ball & beam control system using matlab and lego nxt», Vis. Electron., vol. 8, n.º 2, pp. 39–48, dic. 2014.

MLA

Mariño Lizarazo, Daniel Leonardo, y Jose Antonio Tumialan Borja. «Ball & beam control system using matlab and lego nxt». Visión electrónica, vol. 8, n.º 2, diciembre de 2014, pp. 39-48, doi:10.14483/22484728.9871.

Turabian

Mariño Lizarazo, Daniel Leonardo, y Jose Antonio Tumialan Borja. «Ball & beam control system using matlab and lego nxt». Visión electrónica 8, no. 2 (diciembre 28, 2014): 39–48. Accedido marzo 28, 2024. https://revistas.udistrital.edu.co/index.php/visele/article/view/9871.

Vancouver

1.
Mariño Lizarazo DL, Tumialan Borja JA. Ball & beam control system using matlab and lego nxt. Vis. Electron. [Internet]. 28 de diciembre de 2014 [citado 28 de marzo de 2024];8(2):39-48. Disponible en: https://revistas.udistrital.edu.co/index.php/visele/article/view/9871

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