Verification of Ball and Plate System using SMC Based on RBFNN for Magnetic Suspension Platform

  • 吳 啟揚

Student thesis: Master's Thesis


This dissertation presents the development and verification of a dynamic mechatronics system for a two degree of freedom ball and plate using four hybrid mode magnetic suspension (MS) actuators The mathematical model of ball and plate is derived through the Euler-Lagrange method On the other hand the model of MS actuator is derived by Newton’s Second Law and Kirchhoff’s Law Two kinds of sensors touch panel and MPU6050 are used to detect the ball position and plate posture by applying the quaternion algorithm to update the plate posture with the functions of microcontroller unit (MCU) The proposed control law is a radial basis function neural network sliding mode control (RBFNNSMC) which can reduce system overshoot and shorten the settling time to improve the overall system performance significantly with SMC Finally the calculated duty cycle of Pulse Width Modulation (PWM) signals output to this system through the signal amplifier IBT-2 module for system verification
Date of Award2015 Mar 18
Original languageEnglish
SupervisorChin-E. Lin (Supervisor)

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