A linear differential equation describing the dynamic of the ball and beam to model transfer function. The goal of this project is to model and control the ball and beam system. 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. By employing linear sensing techniques, the information from the sensor can be taken and. A ball is located on a beam and the objective is to place the ball at a given position on the beam, or to have the ball follow a specific linear trajectory along the beam.
The plant itself is subjected to many nonlinear effects, which the most common comes from the relative motion between the ball and the beam. Many simple and present day control methods have been used to balance the ball and beam system. Control of a ball and beam system mechanical engineering. Mathematical modeling, simulation and control of ball and. The closed loop control was implemented using a matlab simulink model and a dspace digital signal processor controller board. Design and implementation of ball and beam system using. Ball and beam system dynamics definitions prior to commencing with the derivation of the dynamics we will make a few definitions. This was a project for automated control systems course. For this system the gear and lever arm would not be used, instead a motor at the center of the beam will apply torque to the beam, to control the ball s position. In this project the servomotor is arranged for the high gear ratio as shown in.
Introduction the ball and beam system is a simple mechanical system which usually difficult to control. Embedded controller building for ball and beam system using optimal. The grabcad library offers millions of free cad designs, cad files, and 3d models. The ball and beam system can usually be found in most university control labs since it is relatively. A controller will be designed for this system so that the balls position can be manipulated. System modeling and simulation provide useful and safe mechanisms for initial controller design. Ee 43435320 control system design project capstone ball. The aesthetic and mechanical design incorporated economical materials to make kits of this apparatus attractive and cost effective. For instance, for a fixed beam angle the ball will accelerate along the beam at a rate that is proportional to the beam angle. Ball and beam balance final report tom trapp and wil selby department of mechanical engineering massachusetts institute of technology 2. Power and control department 5th level course project.
Nonlinear ball and beam control system identification. The ball and beam is a very common control theory example problem, and it provides for simple modeling and low project cost. Fixed parameters lm is the length of the beam, d m is the distance from the pivot to the plane of ball contact on the beam, dm is the distance from the pivot to the centre of mass of the beam. Pdf design and implementation of ball and beam system. The system includes a ball, a beam, a motor and several sensors. Ball and beam control theory demonstrator swarthmore college. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Control system project ball beam stabilization using pid control algorithm.
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 principle is then applied to the ball and beam system for observation of the slope of the beam from the measurement of the ball position. The observer incorporates multiple linear observers through interpolation of multiple estimates, which is treated as a type of adaptation. 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. Design and implementation of ball and beam control system ijirset. Secondly, all torques acting on the beam are summed in order to isolate the input variable voltage. The kit of parts was given to students in an electrical engineering class on feedback systems as an endofterm project. Ball balancing on a beam muhammad hasan jafry, haseeb tariq. Project proposal for de5 semester fall 2004, control laboratory, aalborg university esbjerg control of a ballbeam system background as a typical control system, the control of the ballbeam system is excellent in testing and evaluating different. 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. Modeling of ball and beam system the dc motor causes the beam to turn by an angle, which. This project covered the full scope of design including creating a valid model of the system, identifying numerical values for the model parameters, designing an effective control system, assembling the system hardware. The advantage of this system is 64 design and implementation of an embedded ball beam controller using pid algorithm that relatively small motor can be used due to the existing of gear box 1. Ball and beam control system design using microcontroller.
The beam has a length, a moment of inertia and its deflection from the horizontal line is the angle. 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. The modeling process normally uses the lagrangean formulation. In particular, changing the control algorithms is simply done by flashing the codes for the.
The ball and beam is a basic reference point system with high nonlinearity and unstable system in its dynamics. The ball moves freely along the length of the beam. 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. Design and implementation a ball balancing system for control. The constants and variables for this example are defined as follows. Control theory project ball balancing a ball on a beam. The advantage of this system is 64 design and implementation of an embedded ballbeam controller using pid algorithm that relatively small motor can be used due to the existing of gear box 1. Design and realization project of ball and beam balancing mechanism course name.
Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. The statespace equations can be represented in matlab with the following commands these equations are for the torque control model. A ping pong ball sits on top of the beam rolling forwards and backwards according to the pitch of the beam. Modelling and control of ball and beam system using pid. Design and realization of ball and beam balancing mechanism. 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.
Control of a ball beam system networked control systemcombined feedforward and feedback control dual motor control background as a typical control system, the control of the ball beam system is excellent in testing and evaluating different control methods. Get a manual switch from the nonlinear library to connect the signal generator. Now i have an actual physical system available that uses a potentiometer as the feedback sensor. Ball and beam optimal control charles oneill may 1 introduction thisdesignprojectsimulatesandcontrolsabeam andballsystem. You can use it to demonstrate realworld control challenges such as aircraft roll control. Ball and beam control system simulation with simulink 3d. The ball and beam system is the most popular laboratory model used in control system due to its simple modeling and low in cost. Pdf ball and beam balance final report semantic scholar. Join the grabcad community today to gain access and download. An apparatus of the classical ball on beam problem was designed and constructed to be used as a pedagogical instrument in feedback courses. Scribd is the worlds largest social reading and publishing site. I have a plant model and a pid controller designed and working in matlab. Balancing of a ball on beam using arduino as a pid controller.
Jul 02, 2014 balancing of a ball on beam using arduino as a pid controller. The basic idea is to use the torque generated from motor to control the position of the ball on the beam. Engineering 58control theory and design final project. The main purpose of this project is to balance ball on beam using proportional integralderivative pid controller design with matlab and related control. The ball and beam module attaches to the rotary servo base unit. 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. Design, fabrication and control of a ball on beam balancer system also known as the ball and beam system was my b.
The ball and beam module is ideal to introduce various control concepts related to unstable closed loop systems. The major aim of the project is to build and control a real ball and balancing rig. Nov 22, 20 arduino ball balance system using pid control. Control of a ballbeam system networked control systemcombined feedforward and feedback controldual motor control background as a typical control system, the control of the ballbeam system is excellent in testing and evaluating different control methods. For this problem, we will assume that the ball rolls without slipping and friction between the beam and ball is negligible.
Ball and beam control system simulation with simulink. Pdf the ball and beam system is laboratory equipment with high. Control system design project capstone system modeling l beam length r lever arm offset x ball position m mass of the ball. Design, fabrication and control of a ballonbeam balancer system also known as the ball and beam system was my b. 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 direction. Abstracta principle of interpolating sliding mode observer is introduced in this paper. A ping pong ball will roll on the top of long beam with and acceleration is proportional to the angle of the beam. Interpolating sliding mode observer for a ball and beam.
Ball and beam control system simulation with simulink grabcad. 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. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. The ball and beam system is a common didactical experiment in control laboratories that can be used to illustrate many different closedloop control techniques.
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 feedback sensor of the motor angle was an encoder mounted to the back of the motor, and the sensor for the ball position was a linear potentiometer resistive element. Design and implementation of ball and beam system using pid. A constant angle of a beam causes the ball to glissade in the axial direction due to the gravity. Hamed mohamed moinuddin andrey malyshev engi5969 degree project ball and beam balancer april 3, 2006 professor. Control of a ball and beam system university of adelaide. The primary objective of this project was to create a control system that could effectively balance a ball on a metal beam using a motor input to control the angle of the beam. The ball and beam setup is as displayed in figure 1. Engineering 58control theory and design final projectball. Videos can be found on youtube here and here of simple versions running off of an rc servomotor. The task is to control the position of the ball with the actuation variable being the. I used the sainsmart hcsr04 ultrasonic sensor to sense where the ball is on the beam. Ball and beam system dynamics mechanical engineering. A controller will be designed for this system so that the ball s position can be manipulated.
However this system is an open loop unstable system. For the purpose of simplification, the ball can only move in the horizontal direction. We chose to implement a pid controller to balance a. Pdf nonlinear ball and beam control system identification. Control system project ball beam stabilization using pid. This is our final project for systems and controls at rowan university. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. The ball and beam system is more or less what is sounds like. Servo load gear angle j balls moment of inertia ftx translational force on the ball. Pdf the ball and beam system is a laboratory equipment with high nonlinearity in.
Pdf design and realization of ball and beam balancing. Pdf design and implementation of ball and beam system using. For this system the gear and lever arm would not be used, instead a motor at the center of the beam will apply torque to the beam, to control the balls position. Design and implementation a ball balancing system for. The frame is made out of poster board, a pencil, hot glue, and. Pdf modeling and control of ball and beam system using model. Its distance to the beam center is counted positively to the right. The assignment was to construct a ball and beam control system. In this paper, a complete physical system and controller design is. Interactive demonstration of feedback control for a ball and beam system. We chose to implement a pid controller to balance a ball on a target location on a beam in unity3d. The pitch is controlled by a servo that is connected to an arduino. Jan 30, 2016 control system project ball beam stabilization using pid control algorithm.
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