Ball on plate balancing system progress report for ecse4962. Oct 03, 2016 the mathematical model of the ball and beam system is obtained and the system is controlled by using different controllers including lqr, pid and feedback linearization. Modelling and control of ball and beam system using. Srv02 ball and beam control laboratory student manual 1. Ball on plate control projects electronics engineering. Objectives the objective in this experiment is to design a controller for the ball and beam module such that the position of the ball accurately tracks a defined path. This permits a masterslave configuration where the ball command is generated by the ss01 instead of through a program. Introduction system modeling is an extremely important part of the control system design process. The 3d beam software tool is used for efficient modelling and analysis of 3d beam structures. System dynamics the ball and beam system shown in fig. A motor is connected to the beam at the center, and produces a torque that causes the beam to rotate. Control of a ball and beam system university of adelaide.
The idea is to try to balance a ball on a beam using a control loop. Design, fabrication and control of a ball on beam balancer system also known as the ball and beam system was my b. The goal was to create a single degree of freedom control system to. In order to design a controller for the ball and beam system. 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. It is a popular textbook example in control theory. Balthazar modeling, control and implementation of a ball and beam system control pd is designed and tested experimentally, with the addition of. Modelling ball and beam plant components in this section, we derive the relation between the position of the ball xs and the angle of the beam. Third international conference on advances in control and optimization of dynamical systems march 15, 2014. The output ball position is compared to the setpoint the position where we want the ball to be a pid algorithm on the arduino is used to compute the angle of the servo motor based on the difference between the output ball position and the setpoint the error. 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, fabrication and control of a ballonbeam balancer system also known as the ball and beam system was my b. Kanpur, india modelling and control of ball and beam system using coefficient diagram method cdm based pid controller b. 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.
Mar 08, 2015 read about psoc 4 ball and beam control system, identification toolbox. Dec 11, 2012 hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. Read about psoc 4 ball and beam control system, identification toolbox. Even if the beam is restricted to be very nearly horizontal. The ball and beam system can usually be found in most university control labs. The ball and beam module consists of a steel rod in parallel with a nickelchromium wire wound resistor forming the track on which the metal ball is free to roll.
Wolfram systemmodeler is an easytouse, nextgeneration modeling and simulation environment for cyberphysical systems. The mathematical model for this system is inherently nonlinear but may be. Ball and beam system dynamics university of adelaide. Psoc 4 ball and beam control system, identification toolbox. A system model model represents aspects of a system and its environment. Modeling and controlling ball and beam system youtube. The beam angle can be expressed in terms of the angle of the gear. 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. Chapter 2 presents an explanation of different tools used for the modeling. The system includes a ball, a beam, a motor and several sensors. 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. An accurate model of a dynamical system allows us to better understand the physical system and facilitates the analysis and design of. Design and implementation of ball and beam system using pid. Ball and beam control theory demonstrator swarthmore college.
Dec 29, 2018 im doing a project for my studies, and i need to do a simscape multibody model of ball and beam which is supported in the middle. The modelling software works by computing the amount of air that passes through the valve every 100 microseconds, subtracting the from the pressure chamber and adding it to the bore. Balancing of a ball on beam using arduino as a pid controller. Top 10 free 3d modeling software for beginners all3dp. The proposed mechatronics design and models were created and verified using matlab simulink software and are intended for research purposes, as well as.
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 beam is tilted from an external torque to control the position of the ball on the beam. New pressures are computed for the bore and chamber. Introduction the objective of the ball and beam experiment is to stabilize the ball to a desired position along the beam. Ball and beam components the ball and beam components are identified in section 2.
In this example, rather than expressing all the forces and geometric constraints which is difficult to model in simulink for dynamic systems with constraints we will model the nonlinear lagrangian equation of motion directly. The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. Im doing a project for my studies, and i need to do a simscape multibody model of ball and beam which is supported in the middle. Each motor will be controlled using software, with a minimum of position feedback for control. Experimental control design for ball and beam system by. The ball and beam system consists of a long beam which can be tilted by a servo or electric motor together with a ball rolling back and forth on top of the beam. Ball and beam system, dynamical systems, langrangian mechanics, newtonian mechanics, system modeling 1. Mathematical modeling, simulation and control of ball and. The problem of the ball on beam becomes interesting because when the ball begins moving it will roll off the end of the beam if no control action is taken. Beam structural analysis nauticus hull 3d beam dnv gl. Pdf modeling and control of ball and beam system using. The system is a double integrator, so it is naturally unstable.
It needs active feedback control using phaseadvance methods. Two different ball and beam configurations were used. A servo motor controls the beam angle and sensors measure the beam angle and ball position. Modeling, control and implementation of a ball and beam system control pd is designed and tested expe rimentally, w ith the addition of nonlinear compensation in some cases. Modelling and control of a underactuated sphere and beam system. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. The derivation is based on a lagrangian formulation but could just as easily be formulated using a newtoneuler formulation. This was my final year project at loughborough university. Ball and beam control system simulation with simulink 3d.
The statespace equations can be represented in matlab with the following commands these equations are for the torque control model. I did make a model, which looked like it had good physicall behaviour, but when i tried to add pid controller nothing changed ball is still falling. Matlabsimulink software suite see appendix for details. The simulation is stopped by pushing the stop button or when the ball rolls off either end of the beam. Pdf design and implementation of ball and beam system. If you do decide to move on to the premium version, you can even add plugins or tools to enhance the productivity and capabilities of the software. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. 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. Chapter 5 gives the modeling in modelica of the beam and ball process.
The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. The force on the tennis ball is computed, the net acceleration, velocity, and new position. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink. 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. It is a popular textbook example in control theory the significance of the ball and beam system is that it is a simple system which is openloop unstable. For instance, for a fixed beam angle the ball will accelerate along. Upon completion of the exercise, you should have have experience in the following. 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.
We first define a set of generalized coordinates which fully describe the system. The construction of the ball on beam involves a beam that. If the ball is pushed, the system moves the beam to return the ball to its initial position. Pdf design and implementation of ball and beam system using. Jul 02, 2014 the output ball position is compared to the setpoint the position where we want the ball to be a pid algorithm on the arduino is used to compute the angle of the servo motor based on the difference between the output ball position and the setpoint the error. A lever arm is attached to the beam at one end and a servo gear at the other. This representation is included in the simulink model provided, along with. The ball and beam setup is as displayed in figure 1.
The position of the ball is obtained by measuring the voltage at the steel rod. Matlab software program has been used to plot instant system. Secondly, all torques acting on the beam are summed in order to isolate the input variable voltage. In this paper, a complete physical system and controller design is explored from conception to modelling to testing and completion. The ballonbeam system, a 1dimensional similarity to the ballonplate, however, is a classic control problem, and has been studied in great detail. There are many different types of models, as there a variety of purposes for which they are built. When the angle is changed from the horizontal position, gravity causes the ball to roll along the beam. It consists of rigid beam which is free to rotate in the vertical plane at the pivot, with a solid ball. Help ball and beam simulink animation matlab answers. Originally created for architects, designers, and filmmakers, sketchup is a great 3d modeling software for beginners and advanced users alike. Chapter 4 presents the mathematical modeling of the physical system.
The statespace equations can be represented in matlab with the following commands these equations are. After an extensive search, few systems of similar scale were found. Lagranges type ii formalism with multipliers was used in the modelling of a sphere and beam system article. Files 18 ball and beam control system simulation with simulink ball and beam control system simulation. A controller will be designed for this system so that. Design and implementation of ball and beam system using. Engineering 58control theory and design final project. The process model can be broken down into two separate models. The ball and beam model consists of a horizontal beam and a dc motor mechanically attached at the centre of the beam. A short description of the thesis chapter is outlined below.
The aims of this research are to model the ball and beam system considering nonlinear factors and. Ball on plate balancing system progress report for. The main ideas of the paper are to model the ball and beam system. The angle in turn influences the position of the ball. System modeling and simulation provide useful and safe mechanisms for initial controller design. Our ball and beam system provides practicing the automatic control theory on a closed loop experiment. Ball and beam apparatus ce106 control engineering tecquipment. Using the proportionalderivative pd family, a cascade control system is designed to meet a set of specifications. It is useful to have a common way to talk about the concepts underlying the many different types of models e. Controlling the position of a ball on a beam is one of the classical problems of control theory. Introduction the ball and beam system is a simple mechanical system which usually difficult to control. It can be used as a standalone program or as an integrated part of nauticus hull, and is an ideal tool for first assessment of structural design.
Hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. I already have the circuit in simulink that describe this situation, and i already did some shapes in vrealm buildera ball and a beam and with a vr sink block, in simulink, i tried to connect the circuit to the simulation, but i think that im not doing right. The beam was connected to a servo motor which altered the angle of the beam to control the ball. Mechatronics design of ball and beam system citeseerx.
A ball is placed on a beam, see figure below, where it is allowed to roll with 1. The significance of the ball and beam system is that it is a simple system which is openloop unstable. Pdf modelling and control of ball and beam system using pid. 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. The srv02 ball and beam module can also be accompanied by a remote ball sensor called the ss01 module. Beam properties lthe first step in beam modeling, as with any analysis, is to create the geometry s usually just a framework of keypoints and lines. Beam is a compulsory item on the electronics engineering curriculum, specifically for classes on pid proportionalintegralderivative control systems. The basic control problem is to vary the beam angle to control the ball position. Using drag and drop from the large selection of builtin and expandable modeling libraries, you can build industrial strength, multidomain models of your complete system. The beam is connected to support block which is fixed at one side and at another side a movable lever arm is attached which in turn controlled by the dc brush motor through belt pulley. Ball and beam control system simulation with simulink grabcad.
Srv02 ball and beam university of hawaii system 10. Modelling the ballandbeam system from newtonian mechanics. Files 18 ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam.
Modeling and control of the ball and beam process modellering, simulering och. A controller will be designed for this system so that the balls position can be manipulated. Ball on plate control projects electronics engineering hobby projects and tutorials a ball on plate system is the two dimension extension to the ball on beam system. Modelling and control of a underactuated sphere and beam. The ball on beam system, a 1dimensional similarity to the ball onplate, however, is a classic control problem, and has been studied in great detail. The mathematical model of the ball and beam system is obtained and the system is controlled by using different controllers including lqr, pid and feedback linearization. Chapter 3 describes the study of the ball and beam process. Ball and beam model simscape multibody matlab answers. System modeling concepts sebok systems engineering.
771 1205 1115 1548 110 908 739 1295 1359 943 570 979 571 1154 14 575 13 968 1330 615 1355 921 1084 636 42 614 1478 423 1466 1448 1200 711 862 44 1259 1048 998 190 567 833 104 993 642 74 237