Nonlinear ball and beam control system identification

Página do item simplificado
dc.contributor.authorColón, Diego
dc.contributor.authorBueno, Atila M. [UNESP]
dc.contributor.authorDiniz, Ivando Severino [UNESP]
dc.contributor.authorBalthazar, José Manoel [UNESP]
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2016-03-02T13:03:18Z
dc.date.available2016-03-02T13:03:18Z
dc.date.issued2014
dc.description.abstractThe Ball and Beam system is a common didactical experiment in control laboratories that can be used to illustrate many different closed-loop control techniques. The plant itself is subjected to many nonlinear effects, which the most common comes from the relative motion between the ball and the beam. The modeling process normally uses the lagrangean formulation. However, many other nonlinear effects, such as non-viscous friction, beam flexibility, ball slip, actuator elasticity, collisions at the end of the beam, to name a few, are present. Besides that, the system is naturally unstable. In this work, we analyze a subset of these characteristics, in which the ball rolls with slipping and the friction force between the ball and the beam is non-viscous (Coulomb friction). Also, we consider collisions at the ends of the beam, the actuator consists of a (rubber made) belt attached at the free ends of the beam and connected to a DC motor. The model becomes, with those nonlinearities, a differential inclusion system. The elastic coefficients of the belt are experimentally identified, as well as the collision coefficients. The nonlinear behavior of the system is studied and a control strategy is proposed.en
dc.description.affiliationUniversidade Estadual Paulista Júlio de Mesquita Filho, Departamento de Estatística, Matemática Aplicada e Computacional, Instituto de Geociências e Ciências Exatas de Rio Claro, Rio Claro, Avenida 24A. 1515., Bela Vista, CEP 13506-700, SP, Brasil
dc.description.affiliationUnespUniversidade Estadual Paulista Júlio de Mesquita Filho, Departamento de Estatística, Matemática Aplicada e Computacional, Instituto de Geociências e Ciências Exatas de Rio Claro, Rio Claro, Avenida 24A. 1515., Bela Vista, CEP 13506-700, SP, Brasil
dc.format.extent69-80
dc.identifierhttp://dx.doi.org/10.4028/www.scientific.net/AMM.706.69
dc.identifier.citationApplied Mechanics and Materials, v. 706, p. 69-80, 2014.
dc.identifier.doi10.4028/www.scientific.net/AMM.706.69
dc.identifier.issn1662-7482
dc.identifier.lattes9728054402919622
dc.identifier.lattes7416585768192991
dc.identifier.urihttp://hdl.handle.net/11449/135561
dc.language.isoeng
dc.relation.ispartofApplied Mechanics and Materials
dc.rights.accessRightsAcesso restrito
dc.sourceCurrículo Lattes
dc.subjectCollisionen
dc.subjectControl systemen
dc.subjectCoulomb frictionen
dc.subjectIdentificationen
dc.subjectNonlinear dynamicsen
dc.titleNonlinear ball and beam control system identificationen
dc.typeArtigo
unesp.author.lattes9728054402919622
unesp.author.lattes7416585768192991[2]
unesp.author.orcid0000-0002-1113-3330[2]
unesp.campusUniversidade Estadual Paulista (Unesp), Instituto de Geociências e Ciências Exatas, Rio Claropt
unesp.departmentEstatística, Matemática Aplicada e Computacionalpt

Arquivos

Coleções

Artigos - Estatistica, Matemática Aplicada e Computação - IGCE