Ball and plate state space observer control with position. There are many of control strategies and methods in controlling the position of ball in the ball beam system such as a robotic ball balancing beam 2, ball and beam balancer control using. 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 sits on top of the beam rolling forwards and backwards according to the pitch of the beam. In this experiment, a ball is free to roll along the track of a beam that is pivoted at the center. Design and implementation of ball and beam system using. It is able to control the position of a stainless steel ball on the track by. These controllers are designed based on two feedback loops. I used arduino as a pid controller to balance a small ball on a 4bar mechanism.
In control technology, the system is open loop unstable because the system output the ball position increases without limit for a fixed input beam angle. To drive the beam and control its tilt, i used a surplus dc motor with a leadscrew. Position of a ball on a beam control system youtube. A controller will be designed for this system so that the ball s position can be manipulated. The ball balancer consists of a moving cart, on top of which a steel ball rolls. Optimal state feedback control ball and beam by carion pelton 1 objective in this experiment you will build and control a ball and beam system. The system is a double integrator, so it is naturally unstable. The beam angle is modified by a permanent magnet brushed direct current motor and this produces the ball movement by the effect of gravity. Design and implementation of ball and beam control system ijirset.
Ball and beam system can be used for a wide range of control system design implementations from basic linear controllers to advanced nonlinear methods. Apr 04, 2017 implementation of a pid controller for a ball and beam system, running in matlab. Ball and beam apparatus ce106 control engineering tecquipment. This allows the user to see the correlation between the plot and the systems physical response. Files supplied with the srv02 ball and beam position control experiment. Therefore, some method of controlling the ball s position in this system is required. Modelling and control of ball and beam system using pid controller abstract. The beam angle will control the acceleration of the ball and not position. 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. The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. Modelling and control of ball and beam system using. Louis systems engineering laboratory by philip thomas, nicole schreiber, and allison doren. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate.
This paper presents the design of an optimal control strategy for a 2 degree of freedom standard laboratory system ball and beam. The system is an open loop and nonlinear system, which is inherently unstable. In the controller gains tab, you can tweak the cascade pid controllers that allows the system to track ball position and beam angle. Engi5969 degree project ball and beam balancer april 3, 2006 professor. When the angle is changed from the horizontal position, gravity causes the ball to roll along the beam. The ball and beam apparatus is a simple system where a beam is tilted back and forth to control the position of a ball at a desired position or reference, as shown in the figure below. The ball and beam system is open loop unstable since for a given constant angle of tilt on the beam, the ball s position changes without limit. Currently, i am trying to implement a pd cascade control for the ball and beam system, one for ball position and one for beam angle.
A linear quadratic regulator lqr is designed and implemented with an objective to control the position of ball on the beam by varying the angular position of beam. Mar 18, 20 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. Detailed values of position, beam angle, setpoint, and control parameters are. Optimal control of a ball and beam system through lqr and. Based on the equations of motion, you will build the theoretical nonlinear model in simulink. Students are able to understand system design approaches with ball and beam s learnbydoing method. A servo motor controls the beam angle and sensors measure the beam angle and ball position. Our ball and beam system provides practicing the automatic control theory on a closed loop experiment. Tuning of pid controller for ball and beam system ijert. By controlling the position of the servo, the beam angle can be adjusted to balance the ball to a desired position. The system includes a ball, a beam, a motor, several sensors, intelligent drive and pc as.
The complete description of the dynamics of the ball rolling on the beam is quite complicated and for control. Experimental control design for ball and beam system by nainesh. Mathematical modeling, simulation and control of ball and beam system. The fundamental principles within this control system can be found in many industrial applications, such as precise position control in production line. The ball and beam system can usually be found in most university control labs since it is relatively easy to build, model and control theoretically. This document and the software described in it are provided subject to a. The control system task, in ball and beam system, is to continually measure and stabilize the rolling ball position a long the beam by adjusting the rotating angle of a beam tilting it frontwards or backwards by manipulating the angular position of the servo, in such a way that the actual position of the ball reaches desired. Simulate the ball and beam control using the model of the plant and ensure the specifications are met without any actuator saturation. Iacsit international journal of engineering and technology, vol.
Modelling and control of ball and beam system using pid. You can use it to demonstrate realworld control challenges encountered in visionbased motion platforms, such as pantilt cameras. Mathematical modeling, simulation and control of ball and. Arduino sends control signal to the dc servomotor which rotate to change the ball position and meet the desired distance. The system includes a ball, a beam, a motor and several sensors. Using this experiment, students can take what they learned in the onedimensional ball and beam experiment, and apply it to the xy planar case.
System modeling and simulation provide useful and safe mechanisms for initial controller design. This simulink model was built for the washington university in st. Pdf design and implementation of ball and beam system using. Ball and beam control system simulation with simulink grabcad. Feedback control must be used to keep the ball in a desired position on the beam. In this paper, a sliding mode control smc method is introduced to design a control methodology for the ball and beam experimental setup bbs that consists of a servo motor, beam and ball. Ball and beam workbook university of central florida. Iacsit international journal of engineering and technology. The main challenge for this paper is that the integrating with lag transfer function of the dc motor model slave loop and the doable. Design and implementation of ball and beam system using pid. Pdf ball and beam educational tool for advanced control system. I have added the 2 pid controllers from the simulink library with default values. Whats all this ball on beam balancing stuff, anyhow.
The ball and beam module is ideal to introduce various control concepts. Pdf design and implementation of an embedded ballbeam. The controls in the gui are few and selfexplainatory. Your step 1 model is 4 integrators nice and simple in simulink work out how to control that and your half way there. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. While the ball and beam system is not a model of a real system, its dynamics. By employing linear sensing techniques, the information from the sensor can be taken and compared with desired position values. Ball and plate state space observer control with position control of pmdc motors martin sumega. The position of the ball is measured by a distance sensor mounted at the end of the beam. The ball and beam system shown below in figure 1 has the control objective of placing the ball anywhere along the beam by varying the motor voltage.
The ball and beam module consists of a steel rod in parallel with a nickelchromium, wirewound resistor forming the track on which the metal ball is free to roll. To stabilize the ball, a control system which measures the position of the ball and adjusts the beam accordingly must be used. The objective of the mechanism control is to stabilize the ball at some desired position on the beam. Design of a cascade control system to regulate the position of the ball on the beam.
One side of the beam is attached to a lever arm that can be coupled to the load gear of the quanser srv02 unit. A controller will be designed for this system so that the. The control task is to automatically regulate the position of the ball on the beam by changing the angle of the beam. The track is effectively a potentiometer, outputting a voltage thats proportional to the position of the ball. The generalized coordinates are defined as 1 where pt is the position of the ball on the beam and. The ball translational acceleration will be dependent on how the beam is angled. Since the ball and beam is open loop unstable it requires a compensator to control the position of the steel ball rolling on the top of the beam. The 2 dof ball balancer is based on two rotary servo base units. A very complex control system used a lot in education, because its composed of two unstable processes. Transducers on the ball and beam continuously detect the ball position and the beam angle of the track. The cart moves on a pair of tracks horizontally mounted on a heavy support fig. Ball and beam module can be operated in standalone mode, and the ball position. The apparatus has a steel ball which is free to roll on two parallel tensioned wires positioned on a beam that pivots at its centre. The nxp development platform lcp1768 works as an acquisition and a signal c.
The grabcad library offers millions of free cad designs, cad files, and 3d models. The ultimate goal of this experiment is to develop a control system and create the supporting software for the ce106 ball and beam apparatus. Mar 08, 2015 the second loop is the beam angle to the ball position. In this paper, a complete physical system and controller design is. 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. As described in the prelab, the purpose of this laboratory is to control a balls position along a beam by manipulating the load angle of the servo motor. Control of a ball beam system background as a typical control system, the control of the ball beam system is excellent in testing and evaluating different control methods. Position control of a ball beam experimental setup based. This together with the servo control is the complete ball and beam cascade control system. The objective of the mechanism control is to stabilize. Ball and beam system the problem is to maintain the position of the ball on the beam along which the ball rolls freely. Ball and beam control model the worlds leading software. The ball and beam system is a quite famous control exercise. The pitch is controlled by a servo that is connected to an arduino.
In two dimensions, the ball and beam system becomes the ball and plate system, where a ball rolls on top of a plate whose inclination can be adjusted by tilting it frontwards, backwards, leftwards, or rightwards. Join the grabcad community today to gain access and download. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. A motor or two motors isare attached to the beam at the centraltwoends position such that the beam can be driven and turned by some proper angle. Interactive demonstration of feedback control for a ball and beam system. Arduino boards are able to read inputs light on a sensor, a finger on a. Design a compensator that regulates the position of the ball on the beam and meets certain specifications. Secondly, all torques acting on the beam are summed in order to isolate the input variable voltage. Bb01 control ball and beam position control using quarc student. For this problem, we will assume that the ball rolls without slipping and friction between the beam and ball. So you have 4 integrators between the ball position and the motor pwm, and some delay in you control loop and some quantisation in the adc. Several examples of controller design are provided in these tutorials to address this problem.
This information is analysed on the myrios embedded processor and an appropriate control algorithm is run to provide feedback to the system. Control of a ball and beam system mechanical engineering. For this problem, we will assume that the ball rolls without slipping and friction between the beam and ball is negligible. Balance control of ball onplate system using redundant. Optimization of pid parameters based on particle swarm. Mar 16, 2008 santa clara university robotic systems lab brian gamp jose acain control system mechanical engineering proportional derivative outer loop with proportional motor inner loop. It is a ball that rolls inside a channel on a beam. An ultrasonic sensor detects the position of the ball. It needs active feedback control using phaseadvance methods. In the controller gains tab, you can tweak the cascade pid controllers that allows the system to track ball position and beam.
For instance, for a fixed beam angle the ball will accelerate along the beam at a rate that is proportional to the beam angle. The second loop is the beam angle to the ball position. The control objective is to balance the ball on the top and, at the same time, place the cart in a desired position, usually the middle of the track. The assignment was to construct a ball and beam control system. This model studies a ball rolling on top of a beam. Ball and beam control system tends to balance a ball on a particular position on the beam as defined by the user. The ball and beam is a basic reference point system with high nonlinearity and unstable system in its dynamics. Pdf design and implementation of ball and beam system.
This model implements cascaded feedback loops to control the position of a ball bearing on a beam. Therefore, some form of feedback loop must be used to control the ball s position. Controlling the position of a ball on a beam is one of the classical problems of control theory. Control of a ball and beam system the university of adelaide. Many simple and present day control methods have been used to balance the ball and beam system. The basic control problem is to vary the beam angle to control the ball position. The proposed control method is realized in two cascaded control structures such that primary and secondary, respectively. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. We first define a set of generalized coordinates which fully describe the system. As described in the prelab, the purpose of this laboratory is to control a ball s position along a beam by manipulating the load angle of the servo motor. 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.
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