The goal of this project is to model and control the ball and beam. In this example, two different control schemes are studied, the pid regulator and the lq regulator, which can be used to control the position of the ball along the beam, using the beam angle as input. Insert a transfer function block from the continuous library to the left of the ball and beam block, and connect its output to the input of the ball and beam block. Design, fabrication and control of a ball on beam balancer system also known as the ball and beam system was my b. Aleksandarhaberpidcontrolimplementationarduinoball. Page 7 of 43 2 2 x r j dt d x r j dt d v r j dt dw t f r j b b r rx 4. Ball and beam control theory demonstrator swarthmore college.
The position of the ball is measured by a distance sensor mounted at the end of the beam. The ball and beam balance is a safe way to investigate control design for unstable systems. The ball and beam system is also called balancing a ball on a beam. Read about psoc 4 ball and beam control system, identification toolbox. Edit the transfer function block and change its numerator to 1 0. The acrome ball and beam control system trainer kit is designed for the study of the fundamentals of automatic control theory. An ultrasonic sensor detects the position of the ball. Design and implementation of ball and beam system using. Experimental control design for ball and beam system by nainesh. Therefore, some form of feedback loop must be used to control the balls position. The system includes a ball, a beam, a motor and several sensors. Ball and beam control system simulation with simulink. The ball translational acceleration will be dependent on how the beam is angled.
Ball and beam system is one of the control engineering experiment bench. An pid controller is used to control the position of the ball on. The nxp development platform lcp1768 works as an acquisition and a signal c. We will consider the angle specified to the servo motor as the control input. Pdf application of intelligent controller in a ball and beam control. The ball and beam system is open loop unstable since for a given constant angle of tilt on the beam, the balls position changes without limit. I have been working on this model for a while now, i was having some trouble with the sensor data but all of that is good now, here is how. The pitch is controlled by a servo that is connected to an arduino. Click the likes count to see who has liked a model and meet engineers with similar interests.
Transducers on the ball and beam continuously detect the ball position and the beam angle of the track. To build the ball and beam system, it is necessary to discuss what components are involved in this project. Like many other typical control projects, an actuator. Ball and beam control system simulation with simulink 3d.
Ball and beam control system design using microcontroller. This allows the user to see the correlation between the plot and the systems physical response. A ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam. To highlight your renderings and models, we made the viewer even bigger. A ping pong ball sits on top of the beam rolling forwards and backwards according to the pitch of the beam. An pid controller is used to control the position of the ball on the beam. The basic idea is to use the torque generated from motor to control the position of the ball on the beam. Select the optimal state feedback control ball on beam link to download the. The goal of this project is to control the position of a ball on a beam that is actuated by a motor. A ping pong ball will roll on the top of long beam with and acceleration is proportional to the angle of the beam. The system is comprised of a small metal ball, a permanent magnet dc motor, a slotted beam, the msp430, a motor amplifier, myrio microcontroller, and a camera. The ball and beam is a basic reference point system with high nonlinearity and unstable system in its dynamics. Engineering 58control theory and design final project. Ball beamsimulinkmodel ball beam pivot point gear ball tracking point lever arm figure6.
The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design proportional integral derivative pid controller to control the ball position. This was a project for automated control systems course. Implementation of a pid controller for a ball and beam system, running in matlab. The position of a ball on the beam is controlable by applying a torque into the bearing. Its distance to the beam center is counted positively to the right.
Experimental control design for ball and beam system by. Change the label of the transfer function block to lead compensator. Matlab software program has been used to plot instant system response by. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. To do this, we began with a very simple beam system, which we then altered to constrain the motion of the beam to only one. Third international conference on advances in control and optimization of dynamical systems march 15, 2014. Ball and beam system is one of a nonlinear and unstable control. In this project, a theoretical analysis of the ball and beam system is conducted by. The mathematical model for this system is inherently nonlinear, so linearization was done in order to improve the controllability of the system. The system selected for this report was the ball and beam which is one of the most popular and important laboratory models for understanding control systems engineering. The hardware should be purchased separately from acrome.
Psoc 4 ball and beam control system, identification toolbox. It can usually be found in most university control labs. Open source software makes it possible that students and researchers can modify and test their own developed algorithms. This model studies a ball rolling on top of a beam. Modelling and control of ball and beam system using. Balancing of a ball on beam using arduino as a pid controller.
In this experiment, a ball is free to roll along the track of a beam that is pivoted at the center. Thus along with ignoring the dynamics of the motor, we can also ignore the mass of the beam. Send message hello, i really like your project and i think i have skills to help you. In order to stabilize the ball, a control system is applied to measure the position of the ball and adjusts the beam accordingly. When the angle is changed from the horizontal position, gravity causes the ball to roll along the beam. Ball balancing table, with its easily accessible and userfriendly components, is a handson experiment, closing the gap between real industrial systems and diyapproach. In this paper, a complete physical system and controller design is. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. It is generally linked to real control problems such as horizontally stabilizing an airplane during landing and in turbulent airflow. Kanpur, india modelling and control of ball and beam system using coefficient diagram method cdm based pid controller b. Control of a ball and beam system university of adelaide. Without an active feedback control system, the horizontal beam will tilt to either side, and the ball will roll off the end of the beam. Many simple and present day control methods have been used to balance the ball and beam system.
You are about to report the project ball and beamcontrol systems, please tell us the reason. The ultimate goal of this experiment is to develop a control system and create the supporting software for the ce106 ball and beam apparatus. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. The purpose of this app is to allow the user to view an animation of the ball and beam system with the step disturbance response plot. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling.
Ball and beam control demonstration is an interactive demonstration of feedback control for a ball and beam system. Click the arrows to browse the renderings and cad files, or click the image to open it. Pdf ball and beam educational tool for advanced control system. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. The definitive simulator was then written for the realtime os shark, developed at the scuola superiore santanna of the university of pisa the ball and beam system is a quite famous control exercise. Without her help, this project would have never been realised. A lever arm is attached to the beam at one end and a servo gear at the other.
Experimental control design for ball and beam system published on jul 17, 20 the aim of the project is to control the position of the ball placed on a beam tilting on both sides using control. A linear differential equation describing the dynamic of the ball and beam to model transfer function. The assignment was to construct a ball and beam control system. The lagrangian is computed as the difference between the kinetic and potential energies. Modelling and control of ball and beam system using pid. Sir my project model is working,but sir i cant tune ball on right position can you help me what i do so the ball is fix on right position. Before printing each part, be sure to orient them correctly in the 3d printing software. However this system is an open loop unstable system. The ball has a mass, a radius and a moment of inertia. Pdf design and implementation of ball and beam system. Distinguishing with previous projects worked on this setup, this project needs to explicitly take the external disturbance to the system due to the weight of the beam and ball into consideration. For the purpose of simplification, the ball can only move. Balancing a ball on a beamwolfram language documentation. Ball and beam control system trainer kit by acrome.
Mathematical modeling, simulation and control of ball and. The ball and beam system is the most popular laboratory model used in control system due to its simple modeling and low in cost. The purpose of this project was to control ball position on a beam by varying the angle of a servo gear connected to the beam through a lever arm. It is able to control the position of a stainless steel ball on the track by adjusting the rotating angle of a beam. Balancing ballsystemmodeler model wolfram research. A pid code is used to compute the angle of the servo motor based on the position of the ball. The software is available for purchase on the labview tools network. For our project, we controlled a ball and beam system, in which the beam balances the ball at two different positions that alternate via a square wave input. As the servo gear turns by an angle, the lever changes the angle of the beam by.
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