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Control Systems Applications Using Microcontrollers

The project is control a mechanical system know as the Ball & Beam Module using the Texas Instrument’s Ultra-Low-Power MSP430 Microcontroller.

Rey-Alex Mulero-Ortiz

on 12 March 2011

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Transcript of Control Systems Applications Using Microcontrollers

Introduction What is a Control System? A control system consists of subsystems and processes (or plants).

They are assembled for the purpose of obtaining a desired output with desired performance, given a specified input.

Is a device or set of devices that manage, command, direct or regulate the behavior of other devices or systems. What is an Embedded System? An Embedded System is a device that contains tightly coupled hardware and software components:

Performs a single function.
Forms part of a larger system.
Are not intended to be independently programmable by the user.
Are expected to work with minimal or no-human interaction.
Reactive and Real-Time Operation.
Heavily Constrained. What is an Microcontroller? A Microcontroller is a type of microcomputer structure that contains all the functional components on a single integrated circuit (chip).

The basic hardware components that requires are:
Central Processing Unit (CPU)
Data and Program Memory Blocks
Inputs and Outputs Interface (I/O Ports) Research The project is to control a mechanical system know as the Ball & Beam Module using the Texas Instrument’s Ultra Low-Power MSP430 Microcontroller.

The MSP430 will convert a Control System problem into a Logic and Sequential Process which works like an Embedded System.

The objective of the control system is to regulate the behavior of a steel ball that is free to roll on a tilting beam that is actuated by a D.C. motor.

The controlled ball is to follow a reference ball on another beam of similar characteristics.

The microcontroller reads the position of each ball, compares those positions, processes the information, and produces a voltage command to the motor.

Internal Analog-to-Digital and Digital-to-Analog converters of the microcontroller are used to communicate it with the physical devices.

This is done in a feedback structure implemented in a Sequential Logic Algorithm that will control the System in an infinite loop. Ball & Beam System Purpose The results of the project will allow implementing the controller into an embedded system, making the implementation more flexible and applicable to control systems that are found in the industry. Control System Applications Using Microcontrollers The Ball & Beam System is a mechanical module that helps us to understand the fundamentals of a No-Linear Control System.

The purpose of this module is to design a control system to track the ball to a commanded position.
Progress Future Work References Acknowledgements Block Diagram of the System Differential Amplifier Attenuator [1] Davies, John. MSP430 Microcontroller Basics. Elsevier Ltd, Newnes, 2008.

[2] Jiménez, Manuel; Palomera, Rolegio; Couvertier, Isidoro.Introduction to Embedded Systems: A First Approach using the MPS430.University of Puerto Rico at Mayagüez Campus. February 13, 2011.

[3] Nise, Norman S. Control System Engineering. 6th Ed. John Wiley & Sons, Inc. 2011.

[4] Quanser Inc. SRV02 Ball and Beam User Manual. Document Number 709. Revision 2.1.

[5] Quanser Inc. Ball and Beam Experiment and Solution. Quanser Consulting. 1991.

[6] Texas Instruments. MSP430x4xx Family User’s Guide. SLAU056J. January 2010. The system has been designed in sub-systems prototypes.

Each sub-system has been rigorously analyzed and tested.

By the end of this semester we wish to have the system fully operational. Dr. Gerson Beauchamp, Research Mentor

Dr. Manuel Jiménez, Research Co-Mentor

Carlos A. Rivera Ortiz

Puerto Rico Luis Stokes Alliance for Minority Participation (PR-LSAMP) By: Alexander Ortiz Lozada and Reinaldo Mulero Nieves Ball and Beam Esquematics Imaged edited from SRV02 Ball and Beam User Manual. Quanser Inc. Page 4. Revision 2.1. Image edited from MSP430FG4618/F2013 Experimenter’s Board User’s Guide.
Texas Instruments. SLAU213A.
October 2007. Page 1. Program
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