Simulink with settlin g time of 36 seconds for the. Matlabsimulink installations on available computers also lacked the control systems toolbox they. Four degree of freedom control system using a ball on a plate. Design of adaptive control algorithm of mechatronic system. Hi im looking at designing and building a ball on a plate balance system. System consist of 2 digital servo motors hs422 eco, microcontroller arduino uno, and 4 wire resistive touchscreen 7. Accompanying website includes lecture slides and matlab simulink programs pid control system design and automatic tuning using matlab simulink is intended for undergraduate electrical, chemical, mechanical, and aerospace engineering students, and will greatly benefit postgraduate students, researchers, and industrial personnel who work with. Then, using the sum component, these terms are added, or subtracted, and fed into the integrator. Ce151 ball and plate page 2 of 2 control engineering description the ball and plate apparatus shows the problems of the control of an unstable system.
The ball balancing system is used for laboratorial purposes and also in automation systems. The ball and plate control system was considered as a double feedback loop. 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. Chan ham, kennesaw state university he is an associate professor in mechatronics engineering at the kennesaw state university. The aim of this project will be to create a ball plate system using a resistive touch sensor to allow the. Diploma thesis realtime model predictive control thomas haugan automatic control laboratory. The apparatus consists of a plate pivoted at its centre so the plate can tilt in two directions. One of the popular manual closedloop tuning techniques is the pcontrol test. You can get many relieve and importances of reading. This project uses simulink to make an arduino based blower fan that levitates a ping pong ball at a specified height. Addis ababa university addis ababa institute of technology.
Ball on plate balancing system progress report for. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire. To date, significant strides have been made towards the completion of said goal. In 2 dof ball balancer user manual 6, the image viewed by the camera has to be. This paper presents pid model of brushless dc bldc motor with the use of matlab simulink. Simulink with settling time of 36 seconds for the above pid parameters derived. Balancing of a ball on beam using arduino as a pid controller video. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Matlab simulink are used to 1 measure the ball s position through. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. The closed loop control which is used is a digital proportional integral derivative pid control.
The ballandplate program also requires matlab with simulink to modify the. He has over fteen year experience in mechatronics education and research. In this paper, a complete physical system and controller design is. Modelling of ball and plate system based on first principle model and optimal control frantisek dusek, daniel honc, rahul sharma k. Modeling and performance analysis of pid controlled bldc. Learn how to develop a magnetically levitated ball using matlab, simulink, and an arduino due. Simulink basics tutorial university of nevada, las vegas.
This plant, from eedbacfk instruments, is programmed and controlled. Since simulation results are acceptable, an experiment is realized. Pdf ball on plate simscape model, control and diagnostics s. Lq control of ball and plate system controlled by arduino mega 2560.
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. The system utilizes a webcam, matlab simulink, an arduino, and two servo motors to balance a ball like object or have it follow a reference. Pdf modeling and control design for the ball and plate. Simulink code for controlling the ball and plate plant. The basic controller has been coded, and is currently capable of gravity. The setup combines elements of mechanical, electrical and control engineering and is. 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. Learn more about ball playe system, pid controller matlab, simulink, image acquisition toolbox. But then you will have to change the kp, ki, and kd values in the code to get a good system performance. The system the system for the course project is a ball plate balancer, as shown in figure 1. A simulink diagram illustrating this approach can be seen. Ball on plate using webcam, arduino and simulink step response 1of3 blogger45. Design and implementation a ball balancing system for.
Systems lab control system lab simulink introduction control systems focus and pid this video. Simulink environment was created, which contains the blocks described above. This paper discusses the conception and development of a ball onplate. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. A ball onplate system is a widespread education oriented laboratory experiment for automation in mechatronics. The control algorithm is first verified using the derived nonlinear simulation model in matlab simulink. In simulink, systems are drawn on screen as block diagrams. Lowcost ball and plate design and implementation for.
That is the main idea behind solving this system using the model in figure 1. Magnetically levitated ball with matlab and arduino. Before obtaining a step response, we must set the physical parameters. Ball on plate balancing system progress report for ecse4962 control systems design greg andrews chris colasuonno. Ball and plate pid control with 6 dof stewart platform this is a semester project in. For the proposed project, the wellknown ball and plate control problem is explored. Pdf these four folders contain solutions for problems related to ball. Slovak university of technology in bratislava institute of. 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.
Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. Simulation results show that the ball could be stabilized anywhere on the plate in 3. The scope is used to plot the output of the integrator block, xt. Ball on plate using webcam, arduino and simulink disturbance rejection 3of3. Department of process control, faculty of electrical engineering and informatics. For controlling the servomotors, an arduino r board, that is connected through serial communication to simulink r is employed. Craig department of mechanical engineering, aeronautical engineering and mechanics rensselaer polytechnic institute, troy, ny12180, usa abstract. Ce151 ball and plate description the ball and plate apparatus shows the problems of the control of an unstable system. Many elements of block diagrams are available, such as transfer. Pid control system design and automatic tuning using. Ball on plate using webcam, arduino and simulink step. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as openloop response. Balancing of a ball on beam using arduino as a pid controller. Control of a ball and beam system mechanical engineering.
Abstract the goal of the ball onplate balancing system is to create a control system that can accurately balance a steel ball on a plate. The goal of this project is to develop a ballonplate balancing system, capable of controlling the position of a ball on a plate for both static. A servo system with a stepper motor control card controls the motors. Simulink basics tutorial simulink is a graphical extension to matlab for modeling and simulation of systems. A lever arm is attached to the beam at one end and a servo gear at the other. Introduction until now the programming instruments used for ball and plate model control included mostly matlab and simulink.
This is achieved using the legacy matlab r and simulink r support for arduino r toolbox which let us control the outputs of the arduino r board in realtime. A servo system with a stepper motor control card controls the. Equivalent cdm block diagram by comparing the figs. Gravity tends to make the pendulum ball return to the vertical position.
Vision algorithms for ball on beam and plate lund university. Abdelouhab aitouche hautes etudes dingenieur, lille, 20152016 abstract this project deals with the control system of the plant ball and plate. The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. Pdf this paper presents the design and implementation of ball on plate system. Ballandbeam laboratory system controlled by simulink model. The physical system, including a rebuilt yoke, axle and motor bracket, is nearly complete. The papers presents an implementation of the predictive state space control algorithm, called model predictive control mpc. The system includes a ball, a beam, a motor and several sensors. The aerodynamic drag on the ball tends to make the. The identi cation chapter will show that it is not a very serious issue, as combined dynamics will negate this e ect. Pdf design and control of ball on plate system researchgate. This paper presents a modeling and performance analysis of pid controlled bldc motor and different schemes of pwm controlled bldc motor.
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