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Ball and Beam Project-Control

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22 views2 pages

Ball and Beam Project-Control

Uploaded by

coskuner.turkan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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MECE416 Control Systems II Dr.

Babek Naseri

Ball and Beam Project

The following figure shows a well-known “ball and beam” system in control systems. A ball is
located on a beam to roll along the length of the beam. A lever arm is attached to the beam and
a servo gear is attached to the other side of the lever arm. As the servo gear turns by an angle
𝜃, the lever arm goes up and down, and then the angle of the beam is changed by 𝛼. The change
in angle causes the ball to roll along the beam. A controller is desired to manipulate the ball’s
position.

Parameters Description Value


𝑚𝑏 Mass of the ball 0.2 kg
𝑀𝐵 Mass of the beam 1 kg
2
𝐼𝑏 Inertia of the ball 𝑚 𝑅2
5 𝑏
1
𝐼𝐵 Inertia of the beam 𝑀𝐵 𝐿2
2
𝑔 Gravity acceleration 9.81 m/s2
𝐿 Beam length 1m
𝑅 Ball radius 0.02 m
𝑑 Lever arm offset 0.1 m
𝑟 Ball position coordinate (m)
𝛼 Beam angle coordinate (rad)
𝜃 Servo gear angle (rad)
MECE416 Control Systems II Dr. Babek Naseri

The linearized dynamics of the system in state-space form is given by:


𝐱̇ = 𝐀𝐱 + 𝐁𝑢
𝐲 = 𝐂𝐱
where
𝐱 = [𝑟 𝛼 𝑟̇ 𝛼̇ ]𝑇

0 0 1 0
0
0 0 0 1
5 0
1 0 0 0
𝐀= 0 − 𝑔 0 0 , 𝐁= 0 , 𝐂=[ ]
7 1 0 1 0 0
𝑚𝑏 𝑔
− 0 0 0 [𝐼𝐵 ]
[ 𝐼𝐵 ]

a) Design servo Pole Placement controller for 𝐱 0 = [0.2 0 0 0]𝑇 initial condition
• Desired Pole 𝑃𝑑 = [−2 + 2𝑗 −2 − 2𝑗 −20 −40]
• Target ball position 𝑟 = 0.8

b) Design Observer- Pole Placement control for 𝐱 0 = [0.2 0 0 0]𝑇 initial condition
• Target ball position 𝑟 = 0.8
• Overshoot less than 5% in ball position
• Settling time less than 𝑡𝑠 ≤ 2 second

c) Design LQ servo for 𝐱 0 = [0.2 0 0 0]𝑇 initial condition


• Target ball position 𝑟 = 0.8
• Overshoot less than 5% in ball position
• Settling time less than 𝑡𝑠 ≤ 2 second

d) Design Reference Input for the system with 𝐱 0 = [0.8 0 0 0]𝑇 initial condition
• Target ball position 𝑟 = 0.2
• Overshoot less than 5% in ball position
• Settling time less than 𝑡𝑠 ≤ 2 second

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