Implementation of Kalman filter on ball and beam experiment using Labview

S.A. Naz, M.R. Katebi, L. Balbis

Research output: Contribution to conferencePaper

Abstract

This paper presents the implementation of a real time Kalman filter in a ball and
beam experiment and PID control using Labview. The basic aim is to balance a rolling ball while controlling the beam angle using a DC servo motor. Based on analytical modelling and taking some experimental observations, a mathematical model is derived. A PID controller is used along with the Kalman filter to balance the ball on the beam. It is shown that the use of a Kalman filter can estimate a better value of the measured parameter. The controller and the Kalman filter are first simulated in Matlab and then they are implemented in LabVIEW. LabVIEW is interfaced to the ball and beam setup through a DAQ card and a PWM circuit designed to provide the right input to the motor. Real time results are presented to demonstrate the design method.
Original languageEnglish
Number of pages6
Publication statusUnpublished - 2007
EventInternational Control Conference 2006 - Glasgow, UK
Duration: 30 Aug 20061 Sep 2006
http://ukacc.group.shef.ac.uk/Control_Conferences/Control2006/icc2006.htm

Conference

ConferenceInternational Control Conference 2006
Abbreviated titleICC2006
CityGlasgow, UK
Period30/08/061/09/06
OtherThe Conference covers Methods, Technology, Applications and Education in Control Engineering. UKACC seeks to act as an effective link between the UK and the international control communities, and to provide a focus for International Federation of Automatic Control (IFAC) related activities. UKACC has three constituent members: The Institution of Engineering and Technology (IET), The Institute of Measurement and Control (IMC), and The Institution of Mechanical Engineers (IMechE).
Internet address

Fingerprint

Kalman filters
Experiments
Controllers
Three term control systems
Pulse width modulation
Mathematical models
Networks (circuits)

Keywords

  • control education
  • control system design
  • PID controllers
  • kalman filter

Cite this

Naz, S. A., Katebi, M. R., & Balbis, L. (2007). Implementation of Kalman filter on ball and beam experiment using Labview. Paper presented at International Control Conference 2006, Glasgow, UK, .
Naz, S.A. ; Katebi, M.R. ; Balbis, L. / Implementation of Kalman filter on ball and beam experiment using Labview. Paper presented at International Control Conference 2006, Glasgow, UK, .6 p.
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abstract = "This paper presents the implementation of a real time Kalman filter in a ball and beam experiment and PID control using Labview. The basic aim is to balance a rolling ball while controlling the beam angle using a DC servo motor. Based on analytical modelling and taking some experimental observations, a mathematical model is derived. A PID controller is used along with the Kalman filter to balance the ball on the beam. It is shown that the use of a Kalman filter can estimate a better value of the measured parameter. The controller and the Kalman filter are first simulated in Matlab and then they are implemented in LabVIEW. LabVIEW is interfaced to the ball and beam setup through a DAQ card and a PWM circuit designed to provide the right input to the motor. Real time results are presented to demonstrate the design method.",
keywords = "control education, control system design, PID controllers, kalman filter",
author = "S.A. Naz and M.R. Katebi and L. Balbis",
year = "2007",
language = "English",
note = "International Control Conference 2006, ICC2006 ; Conference date: 30-08-2006 Through 01-09-2006",
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Naz, SA, Katebi, MR & Balbis, L 2007, 'Implementation of Kalman filter on ball and beam experiment using Labview', Paper presented at International Control Conference 2006, Glasgow, UK, 30/08/06 - 1/09/06.

Implementation of Kalman filter on ball and beam experiment using Labview. / Naz, S.A.; Katebi, M.R.; Balbis, L.

2007. Paper presented at International Control Conference 2006, Glasgow, UK, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Implementation of Kalman filter on ball and beam experiment using Labview

AU - Naz, S.A.

AU - Katebi, M.R.

AU - Balbis, L.

PY - 2007

Y1 - 2007

N2 - This paper presents the implementation of a real time Kalman filter in a ball and beam experiment and PID control using Labview. The basic aim is to balance a rolling ball while controlling the beam angle using a DC servo motor. Based on analytical modelling and taking some experimental observations, a mathematical model is derived. A PID controller is used along with the Kalman filter to balance the ball on the beam. It is shown that the use of a Kalman filter can estimate a better value of the measured parameter. The controller and the Kalman filter are first simulated in Matlab and then they are implemented in LabVIEW. LabVIEW is interfaced to the ball and beam setup through a DAQ card and a PWM circuit designed to provide the right input to the motor. Real time results are presented to demonstrate the design method.

AB - This paper presents the implementation of a real time Kalman filter in a ball and beam experiment and PID control using Labview. The basic aim is to balance a rolling ball while controlling the beam angle using a DC servo motor. Based on analytical modelling and taking some experimental observations, a mathematical model is derived. A PID controller is used along with the Kalman filter to balance the ball on the beam. It is shown that the use of a Kalman filter can estimate a better value of the measured parameter. The controller and the Kalman filter are first simulated in Matlab and then they are implemented in LabVIEW. LabVIEW is interfaced to the ball and beam setup through a DAQ card and a PWM circuit designed to provide the right input to the motor. Real time results are presented to demonstrate the design method.

KW - control education

KW - control system design

KW - PID controllers

KW - kalman filter

UR - http://ukacc.group.shef.ac.uk/Control_Conferences/Control2006/papers/f230.pdf

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Naz SA, Katebi MR, Balbis L. Implementation of Kalman filter on ball and beam experiment using Labview. 2007. Paper presented at International Control Conference 2006, Glasgow, UK, .