Fuzzy PD Cascade Controller Design for Ball and Beam System Based on an Improved ARO Technique
Publish place: Journal of Computer and Robotics، Vol: 5، Issue: 1
Publish Year: 1390
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_JCR-5-1_001
تاریخ نمایه سازی: 23 دی 1396
Abstract:
The ball and beam system is one of the most popular laboratory setups for control education. In this paper, we design a fuzzy PD cascade controller for a ball and beam system using Asexual Reproduction Optimization (ARO) technique. The ball & beam system consists of a servo motor, a grooved beam, and a rolling ball. This system utilizes a servo motor to control ball’s position on the beam. Changing the angle of servo motor results in the movement of the beam and, subsequently, the ball rolling on it. We designed a fuzzy PD cascade and a PD cascade controller scheme which consists of the two controller loops. The first (outer) controller and the second (inner) controller are organized in a cascaded construction.
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Authors
Mojtaba Kazemi
Faculty of Electrical and Computer Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
Jalal Najafi
Faculty of Electrical and Computer Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran
Mohamad Bagher Menhaj
Department of Electrical Engineering, Amirkabir University, Tehran, Iran