Eso based lqr controller for ball and beam system sciencedirect. 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. Ball and beam system is a nonlinear, unstable, double integrating system which. A dc servo motor is incorporated to control the beam angle using mechanical linkages. Introduction the objective of the ball and beam experiment is to stabilize the ball to a desired position along the beam.
The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. Modeling and control of the ball and beam process modellering, simulering och reglering av kula pa bom processen. Running the simulink model on the hardware just requires preparing the simulink model to run on the desired hardware in the settings, and then downloading the. 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. An ultrasonic sensor detects the position of the ball. The ball and beam system is one of the examples of a nonlinear and unstable control system. The ball and beam simulation proper download scientific diagram.
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. In the simulink model window, click on the start realtime code button forward arrow in the toolbar. Modelling and control of ball and beam system using coefficient. 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. This app was developed as part of the webbased control system. This permits a masterslave configuration where the ball command is generated by the ss01 instead of through a program. Ball beamsimulinkmodel ball beam pivot point gear ball tracking point lever arm figure6. Interactive demonstration of feedback control for a ball and beam system. A ball beam mechanism is found to be highly unstable system. The track is effectively a potentiometer, outputting a voltage thats proportional to the position of the ball. The example rig is a seesawlike balance beam and uses a lot of 3d printed parts and some plywood. The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics.
Control of a ball and beam system university of adelaide. Run the simulation with default parameters and create a plot of the ball position versus time. Using the default positions, the system will attempt to hold the ball at a. It consists of rigid beam which is free to rotate in the vertical plane at the pivot, with a solid ball. Pdf fuzzy logic control for a ball and beam system i. Design and implementation of ball and beam system using pid. Tuning of pid controller for ball and beam system ijert. Jul 02, 2014 i used arduino as a pid controller to balance a small ball on a 4bar mechanism. Ball and beam control system simulation with simulink grabcad. Parameters of ball and beam system symbol m r d g l jb r description mass of the ball radius of the ball lever arm offset gravitational acceleration length of the beam ball s moment of inertia ball position coordinate beam angle coordinate servo gear angle values 0.
Controlling the position of a ball on a beam is one of the classical problems of control theory. I have a few questions on the system of ball and beam. 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. Ball balancing table, with its easily accessible and userfriendly components, is a handson experiment, closing the gap between real industrial systems and diyapproach. A lever arm is attached to the beam at one end and a servo gear at the other. Problem setup system equations matlab representation and openloop response problem setup. Ballbeam demonsrates proportionalderivative pd control using a ball and beam simulation. Step and load disturbance response of the closedloop system for parameters. Dec 27, 2014 for the love of physics walter lewin may 16, 2011 duration.
The aims of this research are to model the ball and beam system considering nonlinear factors and. Bring up your openloop ball and beam model window or download. The system includes a ball, a beam, a motor and several sensors. This allows the user to see the correlation between the plot and the systems physical response. Read about psoc 4 ball and beam control system, identification toolbox. Ball and beam control system simulation with simulink 3d. Research balancing of a ball on beam using arduino as a pid. The inner loop models the movement of the motor, while the outer loop models the movement of the ball and beam. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink. The simulink model for the ball and beam system was developed in the ball. The input driver to the system is an rc servo that can tip the seesaw to a different angle. Hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. Our ball and beam system provides practicing the automatic control theory on a closed loop experiment.
The concept of the ball and beam system is a simple system that is an unstable openloop. The system is an open loop and nonlinear system, which is inherently unstable. Bring up your openloop ball and beam model window or download ours by. A ball is placed on the beam which can roll in either direction freely. 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. Learn more about simulink, pid, control, ball and beam, homework simulink, matlab and simulink student suite, matlab. Distance between center of the gear and joint of the lever arm d 0.
I used arduino as a pid controller to balance a small ball on a 4bar mechanism. However, tuning of pid controller gains is a difficult issue. Balancing of a ball on beam using arduino as a pid controller. The values of various parameters of the ball and beam system, taken for simulations, are shown below. This paper presents the design of an optimal control strategy for a 2 degree of freedom standard laboratory system ball and beam. Fuzzy logic control for a ball and beam system request pdf.
While input may be a square wave or a sinusoid, we implemented a sensor consisting of separate ball and beam, where we manually manipulated the position of the ball as an input. The process model can be broken down into two separate models. Aseil quanser controls lab, bu212e running ball and beam. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. Help ball and beam simulink animation matlab answers. Quarc generates realtime code directly from simulink designed controllers and runs it in realtime on the windows target all without digital signal processing or without writing a single line of code. Matlab simulink student software hardware support file exchange.
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. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design controller to control the ball position. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as. A good friend of mine from graduate school used to do research on this problem, both from the theoretical and experimental sides. Jiros pick this week is ball and beam simulation by jeffrey kantor ball and beam is an interesting controls problem. Abstract one of the most difficult problems that an engineer who works with modeling deals with, is the question about how to translate a physical phenomenon into a set of equations. System consist of 2 digital servo motors hs422 eco, microcontroller arduino uno, and 4 wire resistive touchscreen 7. Root locus controller design page to control the ball s motion. Before obtaining a step response, we must set the physical parameters. Ball and beam control system simulation with simulink 3d cad. Using the proportionalderivative pd family, a cascade control system is designed to meet a set of specifications. Modelling and control of ball and beam system using. In order to stabilize the ball, a control system is applied to measure the position of the ball and adjusts the beam.
Based on the equations of motion, you will build the theoretical nonlinear model in simulink. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive. Lq control of ball and plate system controlled by arduino mega 2560. There are two pid controllers working separately for each axis. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. Files 18 ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. An ir sensor determines how far the pingpong ball is from the edge of the beam. The angle in turn influences the position of the ball. Download the ball and beam simulation, which contains a simulink model of a ball and beam experiment, in which you apply a torque to a beam and try to balance a ball that rolls along the beam see below for a more complete description run the simulation with default parameters and create a plot of the ball position versus time. The srv02 ball and beam module can also be accompanied by a remote ball sensor called the ss01 module. Ball and beam control system simulation with simulink ball and beam control. Dec 11, 2012 hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system.
Exploring the dynamics of the ball and beam system. You can download ours by rightclicking here and then selecting save link as. In this paper, a complete physical system and controller design is. 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. This paper presents the design of a pid controller and two different fuzzy logic controllers of mamdani and sugeno to control the nonlinear model of a ball rolling on a beam using matlab and malab simulink.
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. Pid control has been mostly used for stabilizing the same. The aim is to design a pid controller for ball and beam system to track the ball to a commanded position by varying the beam angle. An apparatus of the classical ball on beam problem was designed and constructed to be used as a pedagogical instrument in feedback courses. Research balancing of a ball on beam using arduino as a pid controller research 5. 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. 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 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.
Pid controller for ball and beam system download scientific. 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 the love of physics walter lewin may 16, 2011 duration. Tuning of a pid controller for optimal performance of ball.
A response of ball position for both type of controller is shown in fig. Download the ball and beam simulation, which contains a simulink model of a ball and beam experiment, in which you apply a torque to a beam and try to balance a ball that rolls along the beam see below for a more complete description. Psoc 4 ball and beam control system, identification toolbox. Open source software makes it possible that students and researchers can modify and test their own developed algorithms. The ball and beam model consists of a horizontal beam and a dc motor mechanically attached at the centre of the beam. Balancing a ball and beam with pid design and implementation of ball beam system using pid control tutorials for matlab and simulink ball beam arduino balance ball balancing a ball. The demonstration is selfcontained in a single matlab function. You should see and hear movement of the srv02 gears as it works to balance the ball in the required position. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Rolling ball on a beam freebody diagram the inclination is considered the xcoordinate. 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.
The ball deforms as it hits the floor keeping the volume of the ball constant. The present work deals with the pid controller implementation of highly nonlinear ball and beam. Ball and beam components the ball and beam components are identified in section 2. Note that the desired action of the system is to move the. Matlab simulink software program has been used to plot. Pdf modeling and control of ball and beam system using. The vrbounce example visualizes a ball bouncing from a floor. Pid controller design for a real time ball and beam system.
The aesthetic and mechanical design incorporated economical materials to make kits of this apparatus attractive and cost effective. Pingpong ball makes great pid example use arduino for projects. Bring up your openloop ball and beam model window or download ours here. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. Optimal control of a ball and beam system through lqr and. A ball is placed on a beam, see figure below, where it is allowed to roll with 1. The present work deals with the pid controller implementation of highly nonlinear ball and beam system. This contribution present structure and usage of selftuning controllers simulink library stcsl for real time control view. Aleksandarhaberpidcontrolimplementationarduinoball. Design and implementation of ball and beam system using.
Secondly, all torques acting on the beam are summed in order to isolate the input variable voltage. In simulink i put together a feedback system with pid controller. Download it by clicking on this link and saving to your matlab directory with the name ballbeam. Control tutorials for matlab and simulink is a set of modules consisting of control tutorials for matlab and simulink, curriculum for a first course in systems dynamics and control and a set of. Ball and beam pid controller using matlab simulink youtube. A pid code is used to compute the angle of the servo motor. It is known for its reliable operation, optimal performance and has simple structure.
In this work, attempt has been made to develop a fuzzy modelbased ball and beam mechanism. Srv02 ball and beam control laboratory student manual 1. Ball and beam control system simulation with simulink. Noise is filtered through a filter in the outer loop. Ball and beam electrical engineering control lab user videos read more play video. Salem department of mechanical engineering, faculty of engineering, mechatronics sec taif university, 888, taif, saudi arabia. The deformation is achieved by modifying the scale field of the ball.
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