Control implementation of a magnetic actuating ball and plate system

Article type: Research Article

Authors: Lin, Chin E.^{a; *} | Ker, C.C.^b

Affiliations: [a] Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan 701, Taiwan | [b] Aerospace Science and Technology Research Center, National Cheng Kung University, Tainan 71150, Taiwan

Correspondence: [*] Corresponding author. Tel.: +886 6 2741820; Fax: +886 6 2361835; E-mail: chinelin@mail.ncku.edu.tw

Abstract: A ball and plate system is constructed using magnetic suspension actuators on two axes for three degrees of freedom control. System characteristic in mathematical model for control is formulated using the backstepping control theory. According to the backstepping control design procedure, the proposed controller is fabricated on a single-chip microprocessor as control kernel and tested with supporting electronic circuits. Several scenarios of dynamic operation such as oscillatory stabilization and circular trajectory tracking are tested to verify the proposed system performance and capability.

Keywords: Ball and plate system, backstepping control, magnetic suspension actuator, trajectory tracking

DOI: 10.3233/JAE-2008-933

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 27, no. 1-2, pp. 133-151, 2008