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Print version ISSN 0123-921X


LOPEZ, Francy; MONROY, Paola  and  RAIRAN ANTOLINES, José Danilo. Position control ball and beam system with magnetic actuator. Tecnura [online]. 2011, vol.15, n.30, pp.12-23. ISSN 0123-921X.

This paper makes a double loop to control the ball and beam system with magnetic actuators also presents the design and construction of the corresponding prototype. The control is done in real time through a data acquisition card and Simulink, which are implemented by filters and linearized signals of 4 sensors. On the other hand, it creates the control algorithms for loops, one of inclination of the beam, and two, ball position. We work on two alternatives for the strategy to control inner loop, these are: a fixed PID gains and variables. The latter delivers better results and also allows a system model, while the outer loop (which takes care of the ball position), working with a traditional PID. Experimentation with the prototype built shows that it is not easy to achieve stabilization of the outer loop, because the latency of the magnetic actuator.

Keywords : Magnetic actuators; PID controller variable; linearization; ball and beam system.

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