An educational automatic control system with realtime matlab simulink pid control and a high frequency feedback implemented with a wiiremote ir sensor. Simulation was done in matlab simulink environment, and the simulation results showed that the plate was stabilized at 0. This goal of this project is to effectively control a weighted ball on a flat surface. Abstract the goal of the ballonplate balancing system is to create a control system that can accurately balance a steel ball on a plate. Ball and beam control system simulation with simulink ball and beam control system simulation with. Contains the simscape model and diagnostics for ball on plate. 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.
On this page you can read or download tutorial membuat motor induksi menggunakan matlab simulink in pdf format. These objectives were met extremely well by the design that will be presented in. Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. Srv02 ball and beam control laboratory student manual 1. The physical system, including a rebuilt yoke, axle and motor bracket, is nearly complete. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading.
Visual servoing tracking control of a ball and plate. The aim of this project will be to create a ball plate system using a resistive touch sensor to allow the movement of a ball by means of automatic control. System modeling and simulation provide useful and safe mechanisms for initial controller design. The normal proportional derivative pd control is modified to a new dual form for the regulation of a ball and plate system. Finally, the experimental results of ball and plate system are provided. There are two pid controllers working separately for each axis. The basic controller has been coded, and is currently capable of gravity compensation.
As the ball rolls sideways, this will vary the total resistance of the system, so the overall resistance will give the precise indication where the ball is. The system should have accuracy of download files like. System consist of 2 digital servo motors hs422 eco, microcontroller arduino uno, and 4 wire resistive touchscreen 7. 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.
Help ball and beam simulink animation matlab answers. An educational automatic control system with realtime matlabsimulink pid control and a high frequency feedback implemented with a wiiremote ir sensor. 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 and plate system proyect report victor sanz gomez under the supervision of mr.
One can refer to stepbystep instructions for modeling a bouncing ball as a stateflow chart. Ball on plate balancing system progress report for. Balance a ball on a plate using simulink with a webcam and an arduino board. Building and controlling a ball and plate system springerlink. Using the proportionalderivative pd family, a cascade control system is designed to meet a set of specifications. 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. In this paper, a complete physical system and controller design is. The system the system for the course project is a ballplate balancer, as shown in figure 1. Sep 14, 2016 hi im looking at designing and building a ball on a plate balance system. Dual pd control regulation with nonlinear compensation for. Modelling and control of ball and beam system using.
Ball on plate balancing system progress report for ecse. When the ball starts moving, it will roll off the end of the plate if no control action is taken. A lever arm is attached to the beam at one end and a servo gear at the other. Ball on plate balancing system progress report for ecse4962 control systems design greg andrews chris colasuonno aaron herrmann march 24, 2004 rensselaer polytechnic institute abstract the goal of the ball on plate balancing system is to create a control system that can accurately balance a steel ball on a plate. The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. The ball plate system is an unstable openloop and nonlinear system having 2 degrees of freedom dof. The ball is made of conductive material, for instance a steel ball bearing. Two rotary servo base units are connected to the sides of the plate using 2 dof gimbals. Enable zerocrossing detection is selected so the simulink solver can determine exactly when the ball hits the ground. Pdf modeling and control design for the ball and plate. The ball and plate system will be used as an illustration to understand the basic concepts and principles of control system and algorithm for beginner. Simulation results show that the ball could be stabilized anywhere on the plate in 3.
The dimensions and material properties of the plate are taken from a standard finite element benchmark problem published by nafems, fv52 see reference. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive. For the love of physics walter lewin may 16, 2011 duration. Update method is continuous so the chart employs continuoustime simulation to model the dynamics of the bouncing ball. Control of feedback digital pendulum mechanical unit 33200. Pdf modeling and control design for the ball and plate system. Matlabsimulink are used to 1 measure the balls position through.
Visual servoing tracking control of a ball and plate system. Balancing of a ball on beam using arduino as a pid controller. Equivalent cdm block diagram by comparing the figs. The ball deforms as it hits the floor keeping the volume of the ball constant. The mathematical model has been derived and the necessary parameters have been measured. This plant, from eedbacfk instruments, is programmed and controlled.
Ballonplate machine uses touchscreen position sensing. Adaptive embedded control for a ball and plate system. The modeling and simulation of the bouncing ball example can be found in. Jan 05, 2017 for the love of physics walter lewin may 16, 2011 duration. Hundreds of examples, online and from within the product, show you proven techniques for solving specific problems. One can refer to stepbystep instructions for modeling a bouncing ball as a stateflow chart the dynamics of a bouncing ball can be defined in terms of two continuous time variables, namely the position and the velocity of the ball, as shown in fig. Before obtaining a step response, we must set the physical parameters. Although this adds a very unique element, it means that the ball on top must be quite heavy to be reliably tracked, and its creator is considering. Ball on plate simscape model, control and diagnostics. The system utilizes a webcam, matlabsimulink, an arduino, and two servo motors to balance a balllike object or have it follow a reference. There is linearquadratic lq regulator with kalman filter working as linearquadratic estimator lqe. Gebze technical university cse 395 project 1 group 7. First, to analyze this controller, a novel complete nonlinear model of the ball and plate system is obtained.
The 2 dof ball balancer module consists of a plate on which a ball can be placed and is free to move. Ball and beam control system simulation with simulink 3d. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. A ball and plate system is a common experimental setup in control laboratories. Simulation results and discussion the structure of ball and beam system with znpid controller and cdmpid controller in matlabsimulink plate form is shown in figs. Files 18 ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. Ball on plate balancing system progress report for ecse4962. An arduino due controls the ball using a pid loop, and the balls position is sensed not by an external camera, but by the top plate, which is actually made out of a resistive touchscreen.
Lq control of ball and plate system controlled by arduino mega 2560. The ball balancing system is used for laboratorial purposes and also in automation systems. This example shows how to calculate the vibration modes and frequencies of a 3d simply supported, square, elastic plate. To date, significant strides have been made towards the completion of said goal. The aim of this project will be to create a ballplate system using a resistive touch sensor to allow the movement of a ball by means of automatic control. Introduction the objective of the ball and beam experiment is to stabilize the ball to a desired position along the beam. The system should have accuracy of ball on the screen, as well as the ability to move the ball from one end of the plate to the other in less than 2 seconds. The ball on plate system is figured out as the 2d evolution of the ball on beam system. Otherwise, the simulink model cannot simulate the physics accurately and the ball appears to descend. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive touchscreen 7. The closed loop control which is used is a digital proportional integral derivative pid control. Abdelouhab aitouche hautes etudes dingenieur, lille, 20152016 abstract this project deals with the control system of the plant ball and plate. The major developments are the structural design and analysis, control system design and analysis, actuators, sensors, prototype assembly, circuitry and programming. The dynamics of a bouncing ball can be defined in terms of two continuous time variables, namely the position and the velocity of the ball, as shown in fig.
Aug 16, 20 an educational automatic control system with realtime matlab simulink pid control and a high frequency feedback implemented with a wiiremote ir sensor. Design and implementation of classical sliding mode. The deformation is achieved by modifying the scale field of the ball. Ball and plate arduino pid control arduino, plates, pid. The ballplate system is an unstable openloop and nonlinear system having 2 degrees of freedom dof. Addis ababa university addis ababa institute of technology. This project aims to balance the ball on the plate at the centre or predefined coordinate by. Ball and beam control system simulation with simulink. Start exploring examples, and enhancing your skills. Hi im looking at designing and building a ball on a plate balance system.
Second, an asymptotic stable dual pd control with a nonlinear compensation is developed. Simulation was done in matlabsimulink environment, and the simulation results showed that the plate was stabilized at 0. 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. Mechatronic design of a ballonplate balancing system.
Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. The vrbounce example visualizes a ball bouncing from a floor. Matlab balance a ball on a plate using simulink with a. It consists of a horizontal plate, which is tilted along each of two horizontal axes such that a ball can be controlled to roll to any position on the plate. Simulation results and discussion the structure of ball and beam system with znpid controller and cdmpid controller in matlab simulink plate form is shown in figs. These objectives were met extremely well by the design that will be presented in this paper. Among those, the ballandplate 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. Hi, im a portuguese student, and ive a project in one of my classes that involves a ball and beam system. Control of feedback digital pendulum mechanical unit 33. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as. When youre learning to use matlab and simulink, its helpful to begin with code and model examples that you can build upon.
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