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