Ball and Beam Experiment - Digital Control
For the detailed description of the problem
setup, have a look at
You will find there also
all the steps of the paper-and-pencil procedure necessary for the equation
formulation and transformation
before MATLAB can be used
to compute the open-loop response.
Modeling using DYNAST
When using DYNCAD, you need not to
deal with any equations at all. You can easily set up the system model
in graphical form
from a kit of dynamic elements. Open
the following system model in DYNCAD and see its Help for more details.
Step response computation
To compute the open-loop step response
of the system using DYNCAD
DYNCAD will send the request across the
Internet to DYNAST - a simulation package based on a server in the Czech
Technical University in Prague.
pull-down the menu DYNAST
click Compute analysis
In a while, an applet should display
the following response on your screen.
Transfer function computation
DYNAST can also provide linearization
and semisymbolic analysis of the system model. To see the following list
of poles and zeros of the system transfer function(s)
You can even find in the listing the following
semisymbolic expression for the step response
pull down the menu Results in DYNCAD
Digital control of DYNAST model by MATLAB
Following the procedure given
can design a digital PID controller for the plant using the transfer function
computed by DYNAST.
To avoid copying the transfer function
data manually it is posibble to export the data in an M-file for MATLAB
sent to you by e-mail. To recieve it
Now you can control the plant model in
DYNAST across the Internet by the designed control loop implemented in
SIMULINK on your computer. To do this, you need to download
and install very easily three DYNAST-MATLAB interface files on your computer
(if you haven't installed it already).
log in yourself in the pull-down menu
File after clicking Login
click New account if you have not
set yet your private account in DYNCAD
click Export-Matlab in the pull-down
To provide the digital control follow
Then you should see the following SIMULINK
model of the control configuration with the embeded DYNAST plant model.
designed SIMULINK model into the directory with the DYNAST-MATLAB interface
Run MATLAB and SIMULINK from this directory
Open the file ball_and_beam.mdl
Start the simulation in the
SIMULINK Simulation menu to obtain the following closed-loop response.
information on our online tools.