Ball and plate system experimental application scitepress. The physical system, including a rebuilt yoke, axle and motor bracket, is nearly complete. Unfortunately, in the real world of control systems design i just returned from niweek2014, engineers seem to be quite content with doing long division over and over again to tune pid systems, instead of seeking commercial tools that do these tasks more quickly and reliably. Neural networkbased pid compensation for nonlinear systems. Using the gui and the provided arduino code you can control pid and measure. The study of ball and plate system based on nonlinear pid.
Pdf design and control of ball on plate system researchgate. The system controllers keep a free rolling ball in desired position on. Pid parameter optimisation using genetic algorithm for ball. Hello, im planning to do a balancing ball on plate project for my control system course, however the tutorial im using used a 4 wire touch screen and wrote the arduino code using it. May 03, 2015 this is a home made ball on plate system.
Slovak university of technology in bratislava institute of. In 3 a pid neural network controllerpidnn based on genetic algorithmga is used for control. Among those, the ball and plate 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. For the same application, can i use my 5 wire touch screen as a 4 wire touch screen. Kanpur, india modelling and control of ball and beam system using coefficient diagram method cdm based pid controller b. Thermostat you, walking down the street without falling over. This project is pretty sweet, also its a cool application for pid control, ib never thought of its. 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. Arduino mega ball plate balance controller implementation.
A resistive 4 wire touchscreen is used to find ball position. The closed loop control which is used is a digital proportional integral derivative pid control. I will be using pid control but for the moment the vi attached is just running pi. The ball mill system bms is a strongly coupled mimo system,in order to implement a longterm automatic operation of the bms effectively, and improve the automation level and efficiency, the paper present the overall design of the system,the control system is composed of siemens simatic s7400plcs7200plc,the profibus dp protocol and mpi protocol are both employed to setup a dcs networking. Abstractcontroller design is one of the important steps during the modelling of various systems, starting with con structing an electric kettle to an aircraft. Pdf in this paper, we propose a costeffective implementation method of a ball and plate system as an. Arduino mega ball plate balance controller implementation issues. Ball and plate control system 33052 feedback instruments. Ballplate system, slidingmode control, pid controller, stabilization, reduced system model. Balancing of a ball on beam using arduino as a pid controller. The snob, the pid controller has much greater accuracy than the bangbang controller built into an electric skillet. When the ball starts moving, it will roll off the end of the plate if no control action is taken.
It uses 2 digital servo motors, arduino due and a five wire touchscreen. The purpose of this work is to design a slidingmode control from a reduced system model using a pid as sliding surface. Pdf on dec 1, 2015, ehsan ali and others published au ball on plate balancing robot find, read and cite all the research you need on researchgate. Sep 11, 2018 the latter is based on a pid controller with adjustable gains and a neural network is used to update the pid gains during control process, aiming to compensate for the nonlinear effects ignored in the base controller. Building and controlling a ball and plate system springerlink. Ball and plate system experimental application semantic scholar.
The 6 dof platform is a proofofconcept prototype that we created for our senior project motion simulator. A linear differential equation describing the dynamic of the ball and beam to model transfer function. But, in fact, most industrial processes with different degrees. Ball on plate model identification ball and plate setup controlball and plate setup control plant control pid controllers plate orientation control pid control of plate orientation realtime pid control 1111d ball controld ball controld ball control 1d pid control of ball position realtime 1d pid control of ball position. Adaptive embedded control for a ball and plate system. Application of sliding mode control to the ball and plate problem. The ball balancing system is used for laboratorial purposes and also in automation systems. 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. Recall, that the transfer function for a pid controller is.
Ball on plate balancing system progress report for. In this paper, a complete physical system and controller design is. Research article generalized kalmanyakubovichpopov. The same real model was used in 4, where pidpsd control in closedloop feedback structure was applied. Ball and plate pid control with 6 dof stewart platform youtube caption. Then, derivative andor integral control will be added if necessary. Pid parameter optimisation using genetic algorithm for. Lq control of ball and plate system controlled by arduino mega 2560. Balancing of a ball on beam using arduino as a pid. Design and implementation of ball and beam system using pid. Using the proportionalintegralderivative pid family, a control system is designed to meet a set of specifications. The performance of the proposed controller is demonstrated with a ballonplate system built for this study. For this problem, we will assume that the ball rolls without slipping and friction between the beam and ball is negligible.
Simulation results and system testing are shown in section v. Control of a ball and beam system mechanical engineering. For this system the gear and lever arm would not be used, instead a motor at the center of the beam will apply torque to the beam, to control the ball s position. The regulating control valve, or regulator, is a device that has a 20 to 1 turndown and limited selections of flowtrim characteristics. Realtime 1d pid control of ball position 2222d ball controld ball controld ball control 2d. Hi, im in the middle of trying to develop a ball plate balance system. I used pid control to adjust the angle of the board according to the position and velocity of the ball, as. Ball on plate balancing system progress report for ecse4962. Ball and plate pid control with 6 dof stewart platform xpost rgifs. Thermostat you, walking down the street without falling over a robot trying to keep a joint at a particular angle a blimp trying to maintain a particular. Aug 22, 2014 23 thoughts on stewart platform ball bearing balancer spiritoffeedback says. Third international conference on advances in control and optimization of dynamical systems march 15, 2014.
Ball and plate control system 33052 description imagine throwing a ball onto a plate and it being stabilised exactly in the centre within two sec onds. Industrial steam system process control schemes in any process control selection, understanding the advantages and disadvantages of each selection is important. The performance of the proposed controller is demonstrated with a ball on plate system built for this study. A controller will be designed for this system so that the balls position can be manipulated. First, we will study the response of the system shown above when a proportional controller is used. Proceedings of the 17th world congress the international federation of automatic control seoul, korea, july 611, 2008 balance and tracking control of ball and plate systems shianching liao, yiwei tu, kuangshine yang, and mingtzu ho engineering science department, national cheng kung university, 1 university road, tainan 701, taiwan, tel. Research article generalized kalmanyakubovichpopov lemma based ipd controller design for ball and plate system shuichimochizuki 1 andhiroyukiichihara 2 graduate school of science and technology, meiji university, higashimita, tamaku, kawasakishi, kanagawa, japan. The nonlinear properties of the ball and plate control system are first presented. Pdf implementation of a ball and plate control system using.
Ball and hoop apparatus ce109 control engineering tecquipment. Ball on the plate model based on pid tuning methods ieee xplore. The latter is based on a pid controller with adjustable gains and a neural network is used to update the pid gains during control process, aiming to compensate for the nonlinear effects ignored in the base controller. The closed loop control which is used a digital proportional integral derivative pid controller. A slidingmode controller from a reduced system model. Optimal robust controller design for the ball and plate. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate.
This paper presents a modeling and performance analysis of pid controlled bldc motor and different schemes of pwm controlled bldc motor. This paper proposes an optimal robust controller design via hinfinity approach. This goal of this project is to effectively control a weighted ball on a flat surface. The output ball position is compared to the setpoint. Recently, various modern control solutions are proposed for the speed control design of bldc motor 4. Basics of control based on slides by benjamin kuipers how can an information system like a microcontroller, a flyball governor, or your brain control the physical world. Pdf fuzzy logic control for a ball and beam system i. Ball on plate pid controller with arduino 12 youtube. Basics of control based on slides by benjamin kuipers how can an information system like a microcontroller, a fly ball governor, or your brain control the physical world. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design proportional integral derivative pid controller to control the ball position. System description the ball and plate control system considered in this work. The system includes a ball, a beam, a motor and several sensors.
Jun 17, 2016 balancing ball on a beam based on pid controller. The ball and plate system will be used as an illustration to. Neural networkbased pid compensation for nonlinear. Balance and tracking control of ball and plate systems. When the angle is changed from the horizontal position, gravity causes the ball to roll along the beam. Have a look at the temperature graph on gavs page the comment above, then realize that the pid controller keeps the plate within less than 1c variation once it reaches the target temperature. The experiment results show that the control method of nonlinear pid could ensure the. 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.
Modelling and control of ballplate system cis upenn. Then, derivative and or integral control will be added if necessary. The paper presents the tuning of pid parameters using genetic algorithm for the ball position control. A single hd camera module is used as a sensor to detect the balls position and two rc servo pid control on a single microcontroller 5. The paper presents the tuning of pid parameters using genetic algorithm for the ball position control of ball and beam system.
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. The purpose of this project was to control ball position on a beam by varying the angle of a servo gear connected to the beam through a lever arm. Ball on plate, pid algorithm, 4 wire resistive touch screen, servo motor. The closedloop transfer function for proportional control with a proportional gain equal to 100, can be modeled by copying the following lines of matlab code into a new mfile. The ball and plate system is a development of the ball on a beam system converted from a system. Industrial steam system processcontrol schemes in any processcontrol selection, understanding the advantages and disadvantages of each selection is important. Design and implementation of ball and beam system using. Control is accomplished by the following mechanisms. This paper presents pid model of brushless dc bldc motor with the use of matlab. History and background of pid control the original technology for industrial proportional, integral, and derivative pid control was pneumatic, hydraulic, or.
The controller is applied to a ball and plate system which has extremely nonlinear characteristics and therefore does not have a unique solution in terms of ball stabilization control. The block diagram for this example with a controller and unity feedback of the ball s position is shown below. Ball and plate pid control with 6 dof stewart platform. Srv02 2d ball balancer laboratory instructor manual 1. This is a semester project in mechatronic control systems at sjsu. 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. The apparatus has a steel ball that rolls inside a hoop. The statespace equations can be represented in matlab with the following commands these equations are for the torque control model.
Modelling and control of ball and beam system using. However, conventional pid controller algorithm is simple, stable, easy adjustment and high reliability, conventional speed control system used in conventional pid control 5. Ballplate system, slidingmode control, pid controller. An ultrasonic sensor detects the actual position of the ball the output ball position in the above figure. System consist of 2 digital servo motors hs422 eco, microcontroller arduino uno, and 4 wire resistive touchscreen 7. As far as the calculations go, i used pid control to adjust the angle of the board according to the position and velocity of the ball, as determined by glob tracking the ball in the video frame.
The ce109 ball and hoop apparatus shows the use of electromechanical servo systems for position and velocity control. Pid controllers design applied to positioning of ball on the stewart platform 214 pid controllers design applied to positioning of ball on the stewart platform andrzej koszewnik, kamil troc, maciej slowik faculty of mechanical engineering, bialystok university of technology, ul. Copycat pidcontrolled solder hotplate keiths electronics blog. The most challenging part in designing pid controller is the control parameter tuning. In addition to minimizing bleed gas, the vrpsbpid series controllers are designed such that their. Simulation results show that the proposed controller has the. Ball and plate system is inherently nonlinear and underactuated system. Another goal was to ensure movement of the ball on th e plate according to the reference trajectory. Introduction the objective of the 2d ball balancer experiment, i. Built to exacting specifications, this easily maintained unit offers highly accurate control in a broad range of operating environments. Ball on plate balancing system progress report for ecse4962 control systems design. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. The goal of the ballonplate balancing system is to create a control system that can accurately balance a steel ball on a plate. In this approach ga is a applied in training weighting factor of.
The remarkable response of this control system is due to the implementation of advanced. The ball and plate system is a ball balancing system which uses a closed loop control system. A pid controller is used to control the ball and a tv remote control is used to. There are two pid controllers working separately for each axis. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. It also works as a model to show liquid slop problems, for example. 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.
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