Projeto de um controlador RST para o sistema barra e bola

Abstract

Educational equipment are very important to apply theoretical knowledge seen in the classroom. This work presents the assembly, modeling, and position control of a Ball and Beam system, which is an unstable open loop system widely used for demonstrating actual laboratory control applications. The work describes the steps of construction, plant modeling, control design and performance evaluation of the closed-loop system. The bar is composed of a fixed end, where the laser sensor that captures the position of the ball is coupled, and a movable end, where the servo motor operates. A microcontroller is responsible for acquiring sensor data and implementing digital position control, as well as sending real-time motor position and tilt data to the computer. The modeling present in this paper considers the servo motor as a linear plant and restricts the operating range to treat the whole system as a linear plant. This consideration allows the design of linear controllers to fixed parameters. The implemented RST controller uses the pole placement technique and aims to obtain a response without stationary state error, small overshoot and fast settling time. As a result, it is concluded that the design of the linear fixed controller used is sufficient to control the proposed unstable system, the prototype can be used as a didactic tool for future work and that there would be improvements when controlling the model outside the linearization range through the adaptive control.