Fuzzy Control Ball On Plate

Fuzzy Control Ball On Plate

Technical Description of Fuzzy Control Ball On Plate

This experimental unit forms part of a series of teaching systems developed in collaboration with the Department of Automation and Information Technology at the Harz University of Applied Studies and Research. A ball-plate model acts as a weakly-coupled mechanical multivariable system. A fuzzy control is used to move the ball to a specific position quickly and with as little movement of the plate as possible, even when the position of the ball is modified by external influences. The position of the ball is measured without feedback using a touch panel and the crisp signals sent to the fuzzy controller, where the signals are transformed into fuzzy input values and inferenced before being transformed back into a crisp output value. Two servo motors act as actuators during this process. The inclination of the plate is modified by the movements of the respective motors; these movements are transferred to the plate by the drive rod. A joystick can be used to control the system manually. This allows the degree of difficulty of the control process to be estimated very accurately.

Specification of Fuzzy Control Ball On Plate

Develop parallel fuzzy controls using microcontroller technology

• Two-axis ball-plate system as mechanical multivariable system, MIMO (Multiple Inputs - Multiple Outputs)
• Switchable between fuzzy and manual mode
• 2 servo motors used as actuators to swivel the plate
• FSH-Shell development software for designing and optimising the fuzzy controller
• Resistive analog touch panel as ball position sensor
• Potentiometer as plate inclination sensor

Technical Data of Fuzzy Control Ball On Plate

• Plate: l x w: 378x303mm

Ball

• Diameter: 35mm
• Weight: 174g

2 servo motors

• Operating voltage: 5,0V
• Actuation torque, interpolated: 206Ncm
• Actuator velocity, interpolated: 0, 18s/60°

Microcontroller

• 8bit microcontroller Zilog Z8Encore
• 12-fold ADC 8bit
• Software: FSH-Shell, runs under Windows XP or Windows Vista

Touch panel

• Operating voltage: 5,5V
• Active area: 378,5x303mm

Dimensions and Weight of Fuzzy Control Ball On Plate

• l x w x h: 600x520x300mm
• Weight: approx. 24kg