Modelling and control design of a ball and beam educational tool

Lim, Si Jie (2020) Modelling and control design of a ball and beam educational tool. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Ball and beam system was a basic laboratory equipment that can be act as educational tool for learning control theory. The main idea of this project is to develop a ball and beam system considering nonlinear factor by using Proportional Integral Derivative (PID) controller to control the ball position. The system was interface with Arduino microcontroller to receive the signal of ball position from ultrasonic sensor (HC-SR04) to compare it with desired and real position into control signal. The PID algorithm that built in Arduino was used to process the difference in signal between desired and real position into control signal. Arduino sends a control signal to the DC servomotor that rotates to change the position of the ball and the required distance. MATLAB software program was used to construct instant system response from Arduino interfacing with the computer in order to identify system characteristics that have different controller parameter values in order to choose parameter parameters that achieve the best system performance. Hardware implementation was a must in order to understand the stability of ball and beam balancing system.

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