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Related Experiment Video

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Operation of the Collaborative Composite Manufacturing CCM System

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Published on: October 1, 2019

Fast Real-Time Model Predictive Control for a Ball-on-Plate Process.

Krzysztof Zarzycki¹, Maciej Ławryńczuk¹

¹Faculty of Electronics and Information Technology, Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665 Warsaw, Poland.

Sensors (Basel, Switzerland)

|July 2, 2021

Summary

This study introduces a fast Model Predictive Control (MPC) algorithm for a ball-on-plate system. The computationally simple MPC, implemented on an STM32 microcontroller, outperforms PID and LQR controllers.

Keywords:

LQR controller PID controller ball-on-plate process model predictive control modeling

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Area of Science:

Control Systems Engineering
Robotics
Mechatronics

Background:

The ball-on-plate system presents a challenging control problem due to its nonlinear dynamics.
Model Predictive Control (MPC) offers advanced control strategies but often requires significant computational resources.

Purpose of the Study:

To develop and implement a computationally efficient state-space MPC algorithm for a ball-on-plate laboratory process.
To evaluate the performance of the proposed MPC algorithm against traditional PID and LQR controllers.

Main Methods:

Derivation of a simplified state-space model for the ball-on-plate process.
Design of a fast MPC algorithm utilizing explicit formulas for on-line computation, avoiding real-time optimization.
Implementation of the MPC algorithm on an STM32 microcontroller, including software and hardware details.
Tuning of the MPC algorithm parameters.

Main Results:

The fast state-space MPC algorithm demonstrated computational simplicity and efficiency.
The implemented MPC controller showed superior performance compared to classical PID and LQR controllers in controlling the ball-on-plate system.
Successful software and hardware implementation on the STM32 microcontroller was achieved.

Conclusions:

The developed fast MPC algorithm provides an effective and computationally feasible solution for controlling the ball-on-plate system.
This approach offers a practical alternative to traditional control methods for similar complex dynamic systems.
The study validates the efficacy of simplified state-space MPC for real-time applications using embedded systems.