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3 자유도 Stewart Platform과 LW-RCP를 이용한 Ball and Plate 시스템 구현에 관한 연구
후지야마 유우스게,주도윤,이영삼 대한전기학회 2023 전기학회논문지 Vol.72 No.8
A ball and plate system is widely recognized as an effective educational tool for teaching students about the principles of automatic control. This paper presents a practical implementation method of a ball and plate system specifically designed for undergraduate students studying automatic control. Our proposed implementation method incorporates a 3-degree-of-freedom (3-DOF) Stewart platform to manipulate the plate. This allows students to gain hands-on experience in studying the kinematics of a parallel robot. Additionally, it offers not only pitch and roll motion of the plate but also vertical motion, thereby extending the scope of control problems from 2-DOF to 3-DOF. To facilitate seamless integration with the educational environment, we have designed an interface board for data acquisition and motor driving. This interface board can be used in conjunction with a lab-built LW-RCP system, enabling students with limited experience in embedded systems or programming to easily design real-time controllers using the Simulink environment. The proposed implementation method is demonstrated by constructing and showing a regulation and tracking control system for the ball and plate system.
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