Picture of virus under microscope

Research under the microscope...

The Strathprints institutional repository is a digital archive of University of Strathclyde research outputs.

Strathprints serves world leading Open Access research by the University of Strathclyde, including research by the Strathclyde Institute of Pharmacy and Biomedical Sciences (SIPBS), where research centres such as the Industrial Biotechnology Innovation Centre (IBioIC), the Cancer Research UK Formulation Unit, SeaBioTech and the Centre for Biophotonics are based.

Explore SIPBS research

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 Control Conference 2006, 2006-08-30 - 2006-09-01. (Unpublished)

Full text not available in this repository. (Request a copy from the Strathclyde author)

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.