Ballbeam demonsrates proportionalderivative pd control as applied to a ball and beam simulation experiment. Control of mechatronic system a ballbeam system background as a typical mechatronic system, the control of the ball beam system is excellent in testing and evaluating different control methods. The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. The objective is to control both beam orientation and ball position. Table 1 below lists and describes the various files supplied with the srv02 ball and beam position control laboratory. The ball deforms as it hits the floor keeping the volume of the ball constant. An accurate model of a dynamical system allows us to better understand the physical system and facilitates the analysis and design of. 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 modelling and simulation of the smc strategy for controlling the system is carried out on matlab simulink platform. The ball and beam system is widely used because it is very simple to understand as a system, and yet the control techniques that can be studied it cover many. Optimal control of a ball and beam system through lqr and. Now i have an actual physical system available that uses a potentiometer as the feedback sensor. The following matlab project contains the source code and matlab examples used for ballbeam demonsrates proportionalderivative pd control using a ball and beam simulation. Files 18 ball and beam control system simulation with simulink ball and.
Jiros pick this week is ball and beam simulation by jeffrey kantor. This paper presents a matlab simulinkbased offline control of highly nonlinear, multivariable and complex ball and beam system. Sliding mode control design under partial state feedback. Can anyone please help me on how to implement a pid controller for a ball and a beam balance system with one end fixed and other end connected to a gear which is in turn connected to a servo motor. Adaptive embedded control for a ball and plate system. The system includes a ball, a beam, a motor and several sensors. The fundamental principles within this control system can be found in many industrial applications, such as precise position control in production. Before obtaining a step response, we must set the physical parameters. Pdf the ball and beam is a basic reference point system with high nonlinearity and. In the second section, system is presented its structure, equations and equilibrium. Our ball and beam system provides practicing the automatic control theory on a closed loop experiment. 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. Tuning of pid controller for ball and beam system ijert. The control of dual motor ball and beam dmbb system is proposed which is a best example for a nonlinear system.
Ball and beam control system simulation with simulink 3d. Recall the two part controller consisted of an innerloop pd beam controller and an outerloop pd ball controller. In order to design a controller for the ball and beam system. Browse the application gallery and download tutorial models with instructions and view example apps. It consists of rigid beam which is free to rotate in the vertical plane at the pivot, with a solid ball. Ball and beam system dynamics definitions prior to commencing with the derivation of the dynamics we will make a few definitions.
Due to complicated structure of the mechanical construction, the beam driving system kinetic chain between motor and beam. 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. Ball on plate balancing system progress report for. This fitness function is introduced in a matlab code by the numerical. Design and simulation of gain scheduling pid controller. Pid control, performed by students of technology in electronics from the university of quindio. The ball and beam system is a type ii system which has two poles at the origin, as seen in the polezero map below. The srv02 ball and beam module can also be accompanied by a remote ball sensor called the ss01 module.
The model of ball movement was derived from the lagrangeeuler equations, presented in 1. Control of a ball and beam system mechanical engineering. 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. The ball and beam system very important application of the ball and beam system is in the field of aerodynamics modeling. The ball and beam system is one of the most enduringly popular and important laboratory models for teaching control systems engineering. Pdf the ball and beam system is a laboratory equipment with high nonlinearity in its. The ball and beam control approach investigated last week will be implemented on the physical system in this weeks lab. Join the grabcad community today to gain access and download. The practical implementation of advanced controlled system for an industrial application involves a wide variety of integrated field such as control electronics, power electronics, electric machine and drives. 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. Experimental control design for ball and beam system author. I also want to implement a fuzzy control for the same system but im not finding any material regarding that. This allows the user to see the correlation between the plot and the systems physical response.
Among those, the ball andplate system consists in controlling the angular position of a plate with two degrees of freedom pitchroll in order to keep a ball always in the center of the plate in the presence of disturbances. The grabcad library offers millions of free cad designs, cad files, and 3d models. The simulations of the proposed controllers are analyzed using matlab simulink and the performances of the system using both the controllers are compared. The constants and variables for this example are defined as follows. Ball and beam system, dynamical systems, langrangian mechanics, newtonian mechanics, system modeling 1. Third international conference on advances in control and optimization of dynamical systems march 15, 2014. Ball and beam pid controller using matlab simulink youtube.
The nxp development platform lcp1768 works as an acquisition and a signal conditioning board, and communicates with. The numerical data of the rig are given in jantzen, 1998b. Modelling and control of ball and beam system using coefficient. Introduction in recent years, many contributions have been presented in control literature that solve the control design problem for classes of nonlinear systems 8. Design and implementation a ball balancing system for.
The ball and beam system is also called balancing a ball on a. Distributed control of ball on beam system michal ganobis, university of science and technology agh abstract this paper presents possibilities of control for unstable dynamic systems basing on ball on beam example. Pdf modelling and control of ball and beam system using pid. In this system, a beam must be able to balance a ball and return the ball to the center of the beam if moved. Mathematical modeling, simulation and control of ball and beam system. Ball and beam system dynamics mechanical engineering. The beam can rotate around its center of gravity, and an elastic belt. The sensitive ball and beam system naturally is unstable even with a restricted beam angle which is nearly horizontal 5. Robust control of a ball and beam system through sliding mode.
The ball and beam system is one of the most popular models for. The track is effectively a potentiometer, outputting a voltage thats proportional to the position of the ball. Ballbeam demonsrates proportionalderivative pd control. The raspberry pi camera board is a custom designed addon module for raspberry pi hardware. Read about psoc 4 ball and beam control system, identification toolbox. I want to draw the trajectory of a flying ball and find where it will fall. Dec 27, 2014 a cascaded pv controller was designed and implemented on a ball and beam system. Design and implementation of ball and beam system using. Balancing of a ball on beam using arduino as a pid controller. Secondly, all torques acting on the beam are summed in order to isolate the input variable voltage. Ball and beam control system simulation with simulink grabcad. Comparison of position control of ball and beam system. The distance between supports is l while that of the overhang is l4.
The cart position and ball angle from vertical are measured variables, and the manipulated variable is the horizontal force acting on the cart. This paper presents an eso based control design for ball and beam system which is one of the most sought after problem for control engineering student. Digital pid controller discrete transfer function openloop response proportional control proportionalderivative control. Sugenoto control the nonlinear model of a ball rolling on a beam using matlab and malab simulink. We will call this function on the images captured in a loop. Modelling and control of ball and beam system using. The system is an open loop and nonlinear system, which is inherently unstable. A controller will be designed for this system so that the ball s position can be manipulated. A motor is connected to the beam at the center, and produces a torque that causes the beam to rotate. 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. 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. Without a real time feedback based closed loop system, the ball will t.
Pdf modeling and control of ball and beam system using model. Hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. Before running the matlab code snippet below, get hold of a tennis ball and place it in the view of the raspberry pi camera board. Based on the equations of motion, you will build the theoretical nonlinear model in simulink. 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. Experimental control design for ball and beam system issuu. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as openloop response. Help ball and beam simulink animation matlab answers. System modeling and simulation provide useful and safe mechanisms for initial controller design. This permits a masterslave configuration where the ball command is generated by the ss01 instead of through a program. Pdf design and implementation of ball and beam system. Using this capability we will develop an ball tracking algorithm. Controller design and matlab simulation results fig.
Matlab, solve and drawing ball trajectory stack overflow. Ball and beam educational tool for advanced control system. System kinematics fuzzy motion control of the ball on beam alexandar djordjevich department of manufacturing engineering and engineering management city university of hong kong 83 tat chee avenue, kowloon hong kong sar, china abstract. The nxp development platform lcp1768 works as an acquisition and a signal conditioning board, and communicates. The study of the ball and beam system can lead to important conclusions regarding the stability of. Ball on plate balancing system progress report for ecse4962 control systems design greg andrews. Engineering 58control theory and design final projectball. The vrbounce example visualizes a ball bouncing from a floor.
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. Partial state feedback,sliding mode control, ball and beam system 1. 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. Kanpur, india modelling and control of ball and beam system using coefficient diagram method cdm based pid controller b. I have g 9,81, start height h 1,5m, start speed v 4 ms and angle a 45 a ball is thrown at angle 45, from initial. The ball and beam system is a classical mechanical system consisting of a ball that moves over a beam in a planar movement. The beam was connected to a servo motor which altered the angle of the beam to control the ball. Introduction system modeling is an extremely important part of the control system design process. Introduction to finite element analysis fea or finite. Dec 11, 2012 hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. Controlling the position of a ball on a beam is one of the classical problems of control theory. Any feedback controller has to measure some or all of the state variables in the cart ball system and derive a control signal from that. Ball and beam balance system matlab answers matlab.
While the matlab code is running, move the ball around. Since the poles are not strictly in the left half plane, the open loop system will be unstable as seen in the step response below. The matlab support package for raspberry pi hardware allows you to capture images from the raspberry pi camera board and bring those right into matlab for processing. The deformation is achieved by modifying the scale field of the ball. The above figure, from cosmosworks, shows the beam fixxed. Matlab classic beam fea solution draft 2, 21408 introduction here the goal is to solve a staticly indeterminant propped cantilever beab subjected to a unifor, load. Implementation of a pid controller for a ball and beam system, running in matlab. I have a plant model and a pid controller designed and working in matlab. Ballandbeam laboratory system controlled by simulink. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. There are two different types of systems, open loop and closed loop. Ball and beam system is a nonlinear, unstable, double integrating system which. The finite element method fem, or finite element analysis fea, is a computational technique used to obtain approximate. 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.
Ballandbeam laboratory system controlled by simulink model. Mathematical modeling, simulation and control of ball and. 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. Problem setup system equations matlab representation and openloop response problem setup. We created three different pd controllers, one was underdamped, one was optimally damped 7, and one was overdamped. The main idea of this kind of control problem is that. Ball and beam balance system matlab answers matlab central. Physical parameters for the ball and beam system 2. A control system is a device that manages and regulates the behavior of a particular system.
File name description 09 ball and beam user manual. This paper presents the design of an optimal control strategy for a 2 degree of freedom standard laboratory system ball and beam. 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 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. 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 ball and beam control system simulation with. This allows the user to see the correlation between the plot and the system s physical response. Ball and beam components the ball and beam components are identified in section 2. In this digital control version of the ball and beam experiment, we are going to use the pid control method to design the digital controller. The matlab simulink analysis of the plant is achieved using transient. Application of fuzzy logic to the well known ball on beam motion control problem is reported.
The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. We use matlab to solve this state space equation too. Ball and beam laboratory system controlled by simulink model through dedicated microcontrolled matlab data exchange protocol krzysztof nowopolski poznan university of technology 60965 poznan, ul. Design of controllers for dualmotor ball and beam system. A good friend of mine from graduate school used to do research on this problem, both from the theoretical and experimental sides. Introduction the ball and beam system is a simple mechanical system which usually difficult to control.