The constants and variables for this example are defined as follows. Pdf linear quadratic gaussian control for ball and plate. Its a problem1as ball and plate system is double io nonlinear object. The ball and plate system will be used as an illustration to. The physical system, including a rebuilt yoke, axle and motor bracket, is nearly complete. It is difficult to build a precise mathematical model for complex ball and plate system and many intelligent algorithms programming are larger, so we make use of the nonlinear pid controller to control actual system and realize the point to point control and circular trajectory control of the ball. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. The educational model ball and plate, consists of a plate, pivoted at its center, such that the slope of the plate can be manipulated in two perpendicular directions. The ball and plate control system was considered as a double feedback loop structure a loop within a loop, for effective control of. This paper presents the development of a dynamic ball and plate system successfully completed for a onesemester senior capstone design project. Due to existence of the centrifugal force, the system relative degree is not well defined. This paper proposes an optimal robust controller design via hinfinity approach.
Every smr is compatible with all oem laser trackers including faro, api, and hexagon leica. Balance and tracking control of ball and plate systems. The system includes a ball, a beam, a motor and several sensors. Ball lock is the industrys most popular quickchange, fixturingflexible mounting system that can be configured to create leanoptimized solutions for your most demanding needs.
System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive. The aim of the workshop is to develop and compare modelbased approaches for ball position control in a given largescale ball on plate system. Stm32f4 discovery board is a microcontroller featuring. Rolling friction between the ball and the plate is neglected. There is linearquadratic lq regulator with kalman filter working as linearquadratic. The system consists of plate, touch screen and servo motor. Moreover, the centrifugal force provides a strong positive feedback and easily leads to the peaking phenomenon. A ball on plate system is a widespread education oriented laboratory experiment for automation in mechatronics. The ball and plate system finds application in areas like humanoid robot, satellite control, unmanned aerial vehicle uav and rocket system 7 in the field of path planning, trajectory tracking. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Ball and plate control system 33052 description imagine throwing a ball onto a plate and it being stabilised exactly in the centre within two seconds. A group of five undergraduate students developed the project concept and constructed a prototype within a semester, integrating major. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive touchscreen 7. All the components of these systems work together to provide a safe and comfortable means of transportation.
The controller of ball and plate system designed based on fnn. Visual servoing tracking control of a ball 1 and plate system. The hardware boards used to control the ballandplate system are based on the stm32f4 platform and its expansion boards, cc2420 radio transceivers. The goal of the ballonplate balancing system is to create a control system that can accurately balance a steel ball on a plate. This goal of this project is to effectively control a weighted ball on a flat surface. Realization of the design is achieved with the simultaneous consideration towards constraints like cost, performance, functionality, extendibility, and educational merit. Due to its inherent complexity, presents challenging problems, such as. Ball on plate system without visual information, authorkwangkyu lee and andreas achhammer and scott drexler and dirk wollherr, year2008. Pdf development of a ball and plate system zafer k. Assistant professor dimitrios hristuvarsakelis, chairadvisor. Development of a ball and plate system abstract this paper presents the development of a dynamic ball and plate system successfully completed for a onesemester senior capstone design project. Simulation results show that the proposed controller has the. This is a semester project in mechatronics control systems at university of jordan it uses 2 digital servo motors, arduino due and a five wire touchscreen.
Ball on plate balancing system progress report for. The inner loop is designed as an actuator angular position controller for the plate inclination while the outer loop is implemented so as to control the balls linear position on the plate. Pdf control of a ballandplate system using a statefeedback. A complete dynamic system investigation for the ball on plate system is presented in this paper. The hardware boards used to control the ball and plate system are based on the stm32f4 platform and its expansion boards, cc2420 radio transceivers. Ballplate system, slidingmode control, pid controller, stabilization, reduced system model. Dual pd control regulation with nonlinear compensation for. 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. This is to be compiled on the beagleboard xm and used with a bluetooth dongle for wiimote access, pololu micro maestro for servo control and the touch screen attached to the usb ports. We will design a controller for this physical system that utilizes full statefeedback control. The 6 dof platform is a proofofconcept prototype that we created for our senior project motion simulator. This paper discusses the conception and development of a ball on plate balancing system based on mechatronic design principles.
The control target is a plate with 2 mutually perpendicular rotating axes, with the aim of balancing a free rotating ball in a specific position on the plate, or having it rotating in a specific trajectory. The ball on plate system is figured out as the 2d evolution of the ball on beam system. Introduction the ball and beam system is a wellknown problem for nonlinear control where the system is underactuated and has two degrees of freedom, while the ball and plate system bps can be considered as an extension of that system consisting of a ball that can roll freely on a plate. Even if the beam is restricted to be very nearly horizontal, without active. System dynamics the ball and beam system shown in fig. The ball and beam system is open loop unstable since for a given constant angle of tilt on the beam, the balls position changes without limit. The ball and plate system is a multivariables, nonlinear control target, which is the 2d extension of ball and beam system. In existing studies, the control design has usually been based on the mingtzu ho, yusie rizal and liming chu. Virtual and remote laboratory with the ball and plate system. Introduction in recent decades, ball and plate systems have been widely used as a basic educational tool for those who study control theory 1, 2.
Pdf mechatronic design and position control of a novel. We currently offer 3 laser tracker smr versions in 3 sizes. The educational model ball and plate, consists of a plate, pivoted at its center, such that the slope of the plate can be. 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. Dual pd control regulation with nonlinear compensation for a. The ball lock mounting system is designed to speed accurate locating and locking of. Commparison between different methods of control of ball. Pdf this paper presents the design and implementation of ball on plate system. Pdf modeling and control design for the ball and plate. Visual servoing tracking control of a ball and plate system.
The movement of the ball is obtained by the camera that with an intelligent vision system will be able to determine the position of the ball in the plate, and by simple deductions, the velocity and acceleration. Pdf development of a ball and plate system jose ignacio. The physical system, including a rebuilt yoke, axle and motor bracket, is. The setup combines elements of mechanical, electrical and control engineering and is. Its general simpli ed and linearized mathematical description can be described by 1 and 2. While the ball and beam system is not a model of a real system, its dynamics. In this paper, a complete physical system and controller design is. First, to analyze this controller, a novel complete nonlinear model of the ball and plate system is obtained. Ball and plate system is a typical multivariable nonlinear object, such as fig1,which is composed of ball and plate, ccd, motors and controller.
Embedded model predictive control for enhancing tracking. The rotation of the ball about its vertical axis is assumed to be negligible. Mechatronic design of a ball on plate balancing system. Lq control of ball and plate system controlled by arduino mega 2560. Pdf ball on plate balancing system saad sardar academia. The ball is made of conductive material, for instance a steel ball bearing. Postioncontrolandtrajectorytrackingofthebpsystemusingfsmc.
This research work presents the development of a position and trajectory tracking control of ball and plate system. The ball and plate is a nonlinear, multivariable and openloop unstable system. It is difficult to build a precise mathematical model for complex ball and plate system and many intelligent. Adaptive embedded control for a ball and plate system. The normal proportional derivative pd control is modified to a new dual form for the regulation of a ball and plate system. Apr 26, 2016 4th year mechatronics project of a ball on plate system using pid control. The chase philosophy chase any fly ball in your area that you judge could a difficult call for the plate umpire is the same in the two umpire system as in the three umpire. Install receiver bushings in your machine table or subplate. The ball and plate case study this section describes the mathematical model and control strategy of the ball and plate system. The ball and plate system is a ball balancing system which used a closed loop.
Jan 11, 2011 feedback ball and plate control system demonstrates a classic control problem of balancing a sphere on a flat surface and maintaining its position. Control is accomplished by the following mechanisms. Symbolbased control of a ball on plate mechanical system by phillip yip thesis submitted to the faculty of the graduate school of the university of maryland, college park in partial fulllment of the requirements for the degree of master of science 2004 advisory commmittee. Ball on plate balancing system progress report for ecse4962. The remarkable response of this control system is due to the implementation of advanced control techniques which are now prevalent in modern industrial processes. Modelling and control of ball and beam system using. The ball balancing system is used for laboratorial purposes and also in automation systems. To develop a ball on plate balancing system, capable of controlling the position of the ball on the plate for both static positions as well as along smooth paths. The ball a nd plate system is extension of the f amous ball and bea m system. The ball and plate system is a ball balancing system which uses a closed loop control system. The modeling procedure represents the twodimensional ball and plate system as two unidimensional decoupled ball and beam systems.
The problem of controlling an openloop unstable system presents many unique and interesting challenges and ball and plate system is specific example for these kinds of systems. Feedback ball and plate control system demonstrates a classic control problem of balancing a sphere on a flat surface and maintaining its position. 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 experiment results show that the control method of nonlinear pid could ensure the. Because the ball and plate system is an unstable, nonlinear system, it is effective for verifying various types of controllers and their performances. A group of five undergraduate students developed the project concept and constructed a prototype within a.
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. Virtual laboratory of the ball and plate system sciencedirect. For this problem, we will assume that the ball rolls without slipping and friction between the beam and ball is negligible. Therefore, some form of feedback loop must be used to control the balls position. The remarkable response of this control system is due to the implementation of advanced control techniques which are now prevalent in. A slidingmode controller from a reduced system model. The ball and plate system is a highly nonlinear and coupled system. The goal of the ball plate system will be to initially create a system that can hold a ball in a static position on the plate. The ball and beam system is open loop unstable since for a given constant angle of tilt on the beam, the ball. Modeling and control design for the ball and plate system. In addition, especially for static positions, the system should be capable of rejecting disturbances to the ball. The closed loop control which is used is a digital proportional integral derivative pid control. The ball and beam balance is a safe way to investigate control design for unstable systems.
Using the ball lock mounting system is a simple three step process. Design, implementation and experimental validation. Recall, that the characteristic polynomial for this closedloop system is the determinant of, where is the laplace variable. Metrologyworks provides a full line of laser tracker spherically mounted retroreflector smr ball probes. Mechatronic design of a ball on plate balancing system shorya. This model has relatively fast dynamics and with its instability provides quite a challenging task for controller design. A resistive 4 wire touchscreen is used to find ball position. The beam is connected to support block which is fixed at one side and at another side a movable lever arm is attached which in turn controlled by the dc brush motor through belt pulley. It is a popular textbook example in control theory the significance of the ball and beam system is that it is a simple system which is openloop unstable. Modelling and pid control design of nonlinear educational model. Finally, the experimental results of ball and plate system are provided. Control of a ball and beam system university of adelaide.
For a more effective control of the ball and plate system, a double feedback loop structure is utilized 1. The ball and beam system consists of a long beam which can be tilted by a servo or electric motor together with a ball rolling back and forth on top of the beam. Building and controlling a ball and plate system springerlink. 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. There is linearquadratic lq regulator with kalman filter working as linearquadratic estimator lqe. Second, an asymptotic stable dual pd control with a nonlinear compensation is developed. Mechatronic design of a ballonplate balancing system. Two motors drive plate trundle, ccd is for ball position detection.
Ball and plate system is inherently nonlinear and underactuated system. Pdf design and control of ball on plate system researchgate. Pdf modeling and control design for the ball and plate system. This is a semester project in mechatronic control systems at sjsu. The sensor position has been made with a resistive wire. The study of ball and plate system based on nonlinear pid. Optimal robust controller design for the ball and plate system. Ball and plate pid control with 6 dof stewart platform. We can modify the setpoint using a linear potentiometer. Modelling of ball and plate system based on first principle. The system includes a ball, a plate, a touch screen, servo motors and a controller. Pdf a ballandplate platform is a common example of the dynamical system used to apply modeling and control concepts studied in some engineering. The closed loop control which is used is a digital proportional integral. This limits the degrees of freedom of the system and also makes the equations of motion simpler 2.
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