LQR control for ball and beam system with deviated axis: simulation and experiment

Authors

  • Van Chinh Pham
  • Duy Tan Hoang
  • Van Dong Hai Nguyen
  • Trung Dung Nguyen
  • Minh Dat Luong
  • Hoang Nam Duong
  • Tran Minh Tu Ngo
  • Thai An Dang

DOI:

https://doi.org/10.56097/binhduonguniversityjournalofscienceandtechnology.v5i4.86

Keywords:

Ball and Beam; LQR algorithm; Optimal control; SIMO; STM32F4

Abstract

The Ball and Beam system with Deviated Axis is a single input-multi output (SIMO) system commonly used in laboratories to test control algorithms. In this paper, we build and investigate an LQR controller in simulation. The controller demonstrates the ability to control the system balance in different placement positions. Next, we conduct a survey of the above controller in the object of the deflection bar through the control board STM32F4. Through simulation and experiment, our LQR controller has successfully controlled the system. In addition, the control parameters adjustment rules are also verified and summarized.

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Published

2023-01-11

How to Cite

Pham, V. C., Hoang, D. T., Nguyen, V. Đông H., Nguyen, T. D., Luong, M. Đạt, Duong, H. N., Ngo, T. M. T., & Dang, T. A. (2023). LQR control for ball and beam system with deviated axis: simulation and experiment. Tạp Chí Khoa học Và kỹ thuật trường Đại học Bình Dương, 5(4). https://doi.org/10.56097/binhduonguniversityjournalofscienceandtechnology.v5i4.86

Issue

Vol. 5 No. 4 (2022): BINH DUONG UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY

Section

TECHNICAL SCIENCES - TECHNOLOGICAL SCIENCES