Bp 414 en
Design and implementation of a control system for a slot car
Author: Martin Lád
This thesis deals with modeling of slotcar by bond graphs. It also deals with design and implementation of two speed measuring methods: a) by IRC sensor and b) by back emf measurement. Both methods have pros and cons. A Kalman filter has been designed and implemented to filter and combine these two measurements. Kalman filter is also used to estimate friction used in system modeling. The final result is a discrete PI controller for speed of the slotcar. The measurements show the controller works very well even with external disturbances and it is able to regulate even relatively small speeds such as 50 mm/s . All implementation tasks have been implemented as a program in a microprocessor in C language.