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Title

Stabilisation problem in biaxial platform

Authors

[ 1 ] Instytut Technologii Mechanicznej, Wydział Budowy Maszyn i Zarządzania, Politechnika Poznańska | [ P ] employee

Year of publication

2016

Published in

Archives of Mechanical Technology and Materials

Journal year: 2016 | Journal volume: vol. 36

Article type

scientific article

Publication language

english

Keywords
EN
  • ball on plate
  • cascade PID
  • stabilizing ball
  • Open CV
  • Emgu CV
Abstract

EN The article describes investigation of rolling ball stabilization problem on a biaxial platform. The aim of the control system proposed here is to stabilize ball moving on a plane in equilibrium point. The authors proposed a control algorithm based on cascade PID and they compared it with another control method. The article shows the results of the accuracy of ball stabilization and influence of applied filter on the signal waveform. The application used to detect the ball position measured by digital camera has been written using a cross platform .Net wrapper to the OpenCV image processing library - EmguCV. The authors used the bipolar stepper motor with dedicated electronic controller. The data between the computer and the designed controller are sent with use of the RS232 standard. The control stand is based on ATmega series microcontroller.

Date of online publication

30.12.2016

Pages (from - to)

65 - 69

DOI

10.1515/amtm-2016-0012

URL

https://www.sciendo.com/pl/article/10.1515/amtm-2016-0012

License type

CC BY-NC-ND (attribution - noncommercial - no derivatives)

Full text of article

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Access level to full text

public

Points of MNiSW / journal

7.0

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