The ballandplate program also requires matlab with simulink to modify the. The apparatus consists of a plate pivoted at its centre so the plate can tilt in two directions. 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. System modeling and simulation provide useful and safe mechanisms for initial controller design. 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. 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 on plate balancing system progress report for ecse4962. This goal of this project is to effectively control a weighted ball on a flat surface. A servo system with a stepper motor control card controls the motors. The ball plate system is an unstable openloop and nonlinear system having 2 degrees of freedom dof. 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 simulink diagram illustrating this approach can be seen in. 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.
Join the grabcad community today to gain access and download. I want this screenshot to be pdf vector graphic, pdflatex with a tight bounding box, by that i mean no unneccessary white space around the diagram. 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. The rotation of the ball about its vertical axis is assumed to be negligible. Furthermore, a physical simulation model is established by virtue of matlabsimmechanics and a relevant inverse kinematics simulation is implemented at the assumption of known conditions of. Pdf modeling and control design for the ball and plate. The deformation is achieved by modifying the scale field of the ball. Comminution modeling of primary ball mills of miduk copper mine using matlab software s h shahcheraghi. Ball on plate using webcam, arduino and simulink disturbance rejection 3of3.
Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as. Pdf ball on plate simscape model, control and diagnostics s. Mechatronic design of a ballonplate balancing system. Vrml is interfaced with the simulink model via simulink 3d animation product. The inverse kinematics mathematical model is established for this kind of mechanism.
This plant, from eedbacfk instruments, is programmed and controlled. Model predictive control of a ball and plate laboratory model. A resistive 4 wire touchscreen is used to find ball position 3 servo motors are positioned in an equilateral triangle for tilting the plate an arduino due is. Rolling friction between the ball and the plate is neglected. Balance a ball on a plate using simulink with a webcam and an arduino board. The position of the ball on the plate was determined. This example shows how to calculate the vibration modes and frequencies of a 3d simply supported, square, elastic plate. The camera image was processed using the computer vision system toolbox tool in the matlab simulink program. The basic controller has been coded, and is currently capable of gravity compensation. This was a project for automated control systems course, i managed to import this cad model to the simulink environment in order to simulate the dynamics of the control system. The educational model ball and plate, consists of a plate, pivoted at its center, such that the slope of the. Ball on plate balancing system progress report for. Model ce 151 ball and plate manufactured by humusoft ltd. Matlabsimulink installations on available computers also lacked the control systems toolbox they.
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. Modelling and control of ball and beam system using. Ball and plate system is an upgraded version of ball and beam system where the position of the ball can be manipulated in two directions 1. In this paper, a complete physical system and controller design is. I managed to import this cad model to the simulink environment in order to simulate the dynamics of the control system. Matlab balance a ball on a plate using simulink with a. Ball and beam control system simulation with simulink 3d. Using the proportionalintegralderivative pid family, a control system is designed to meet a set of specifications. 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.
Sep 14, 2016 hi im looking at designing and building a ball on a plate balance system. The components and construction of the laboratory model. These objectives were met extremely well by the design that will be presented in this paper. Pdf modeling and control design for the ball and plate system. Ball and beam control system simulation with simulink. The ballplate system is an unstable openloop and nonlinear system having 2 degrees of freedom dof. We obtain the position information of the ball by taking the image from the camera on the plate and process the captured image. The dimensions and material properties of the plate are taken from a standard finite element benchmark problem published by nafems, fv52 see reference. The physical system, including a rebuilt yoke, axle and motor bracket, is nearly complete. For the proposed project, the wellknown ball and plate control problem is explored. Mechatronic design of a ball on plate balancing system shorya.
Fuzzy logic based ball on plate balancing system real time. A web camera is used to capture the ball position in the laboratory model. Ball and beam control system simulation with simulink grabcad. Grinding is one of the most important and expensive steps in mineral processing allocating about 70% of the total energy in the plants. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. Parallel robots are widely used in the manufacturing industry. Ball on plate using webcam, arduino and simulink step. 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. Introduction the objective of the ball and beam experiment is to stabilize the ball to a desired position along the beam. These objectives were met extremely well by the design that will be presented in. The system includes a ball, a beam, a motor and several sensors.
Before obtaining a step response, we must set the physical parameters. In 2 dof ball balancer user manual 6, the image viewed by the camera has to be. Control is accomplished by the following mechanisms. Jan 05, 2017 for the love of physics walter lewin may 16, 2011 duration. Save matlab simulink model as pdf with tight bounding box. Ball and plate system proyect report victor sanz gomez under the supervision of mr. Pdf fuzzy logic control for a ball and beam system i. To date, significant strides have been made towards the completion of said goal. Quanser 2 dof ball balancer workbook madeforscience gmbh.
There is linearquadratic lq regulator with kalman filter working as linearquadratic estimator lqe. The goal of the ballonplate balancing system is to create a control system that can accurately balance a steel ball on a plate. Equivalent cdm block diagram by comparing the figs. Simulink diagram used to calibrate camera using quarc. The ball and plate model is a two input plate tilt in the x axis and in the y axis, two output ball position coordinates x, y system with a second order astatism. 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. Control of a ball and beam system university of adelaide.
Modelling of ball and plate system based on first principle. The ball deforms as it hits the floor keeping the volume of the ball constant. Learn more about ball playe system, pid controller matlab, simulink, image acquisition toolbox. The identi cation chapter will show that it is not a very serious issue, as combined dynamics will negate this e ect. The system should have accuracy of plate, and an outer loop to control the position of the ball 6. Apr, 2017 question about ball and plate system model. For the love of physics walter lewin may 16, 2011 duration. Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. Modelling and simulation of inverse kinematics for planar.
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. In this paper, a planar 3rrr parallel robot is studied. Lowcost ball and plate design and implementation for. Pdf these four folders contain solutions for problems related to ball. Srv02 2d ball balancer laboratory instructor manual 1. The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. 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. Given a simulink block diagram model, i would like to produce a screenshot to be used later in a latex document. Simulink code for controlling the ball and plate plant. A lever arm is attached to the beam at one end and a servo gear at the other. Design of adaptive control algorithm of mechatronic system. The grabcad library offers millions of free cad designs, cad files, and 3d models. Development of a ball and p late system abstract t his paper presents the development of a dynamic ball and plate system successfully completed for a one semester s enior capstone d esign project. Addis ababa university addis ababa institute of technology.
System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive touchscreen 7. Ball on plate balancing system progress report for ecse. A group of five undergraduate students developed the project concept and constructed a prototype within a semester, integrating major. Using the proportionalderivative pd family, a cascade control system is designed to meet a set of specifications. The platform is designed to have three degrees of freedom. Slovak university of technology in bratislava institute of. Vision algorithms for ball on beam and plate lund university. Ball and plate contains subsystem of the servomotor for the axis x and axis y, and a subsystem of ball and plate in a direction of axis x and axis y. The vrbounce example visualizes a ball bouncing from a floor. This project aims to balance the ball on the plate at the centre or predefined coordinate by. Rolling ball on a beam freebody diagram the inclination is considered the xcoordinate. This project deals with the control system of the plant ball and plate.
Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. Srv02 ball and beam control laboratory student manual 1. Page 7 of 43 2 2 x r j dt d x r j dt d v r j dt dw t f r j b b r rx 4. The model is unstable with second order astatism and is suited for studying system dynamics, identification and design of various control algorithms. Modelling and pid control design of nonlinear educational model. Simulation results show that the ball could be stabilized anywhere on the plate in 3. Simulation results showed that the plate was stabilized at 0. Abdelouhab aitouche hautes etudes dingenieur, lille, 20152016 abstract this project deals with the control system of the plant ball and plate.
The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. 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 ball and beam control system simulation with simulink loading. You will find autocad file for laser cutting edges for the.
The papers presents an implementation of the predictive state space control algorithm, called model predictive control mpc. For controlling the servomotors, an arduino r board, that is connected through serial communication to simulink r is employed. Aug 05, 2010 ball on plate using webcam, arduino and simulink step response 1of3 blogger45. This limits the degrees of freedom of the system and also makes the equations of motion simpler 2. Ce151 ball and plate description the ball and plate apparatus shows the problems of the control of an unstable system. Ballandbeam laboratory system controlled by simulink model. Pdf article is describing a controller synthesis for twodimensional electromechanical system of the ball. Introduction the objective of the 2d ball balancer experiment, i. Four degree of freedom control system using a ball on a plate.
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