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Implementation of Kalman filter on ball and beam experiment using Labview

Naz, S.A. and Katebi, M.R. and Balbis, L. (2007) Implementation of Kalman filter on ball and beam experiment using Labview. In: International Conference Control 2006, 2006-08-30 - 2006-09-01, Glasgow. (Unpublished)

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Abstract

This paper presents the implementation of a real time Kalman filter in a ball and beam experiment and PID control using Labview. The basic aim is to balance a rolling ball while controlling the beam angle using a DC servo motor. Based on analytical modelling and taking some experimental observations, a mathematical model is derived. A PID controller is used along with the Kalman filter to balance the ball on the beam. It is shown that the use of a Kalman filter can estimate a better value of the measured parameter. The controller and the Kalman filter are first simulated in Matlab and then they are implemented in LabVIEW. LabVIEW is interfaced to the ball and beam setup through a DAQ card and a PWM circuit designed to provide the right input to the motor. Real time results are presented to demonstrate the design method.

Item type: Conference or Workshop Item (Paper)
ID code: 11892
Keywords: control education, control system design, PID controllers, kalman filter, Electrical engineering. Electronics Nuclear engineering
Subjects: Technology > Electrical engineering. Electronics Nuclear engineering
Department: Faculty of Engineering > Electronic and Electrical Engineering
Related URLs:
Depositing user: Strathprints Administrator
Date Deposited: 26 Jul 2011 14:41
Last modified: 17 Jul 2013 15:26
URI: http://strathprints.strath.ac.uk/id/eprint/11892

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