Integration of a Motion Sensor and Laser-Ranging Sensors with an Application in Ball-Beam Trajectory Tracking Control System

• Main Authors: Yung-Chih Pan, 潘勇誌
• Other Authors: Ching-Long Shih
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/kh2ksj

碩士 === 國立臺灣科技大學 === 電機工程系 === 106 === This thesis proposes utilizing a motion sensor and two laser-ranging sensors with an application in ball-beam control system to implement set-point and trajectory tracking control. To obtain accurate beam angle, a complementary filter is used to fuse the data measured by the motion sensor containing an accelerometer and a gyroscope. The ball position is measured by two laser-ranging sensors placed at both ends of the beam, and a Kalman filter is used to smooth the measurement data. This thesis first studies the mathematical model of the ball-beam system. In addition, this research discusses the feasibility assessment and integration of various sensors. Finally, two controllers, PD-PI and LQR-PI, are designed and their performance is verified via the experiments of single-point position control, multi-point position control and trajectory tracking control.