Virtual and remote laboratory of the ball and beam system

2010

Virtual instrumentation is defined as the combination of measurement and control hardware and application software with industry-standard computer technology to create user-defined instrumentation systems. This paper presents a real-time application of Ball and Beam controlled by PID controller designed based on LabVIEW program and the real -time position control of the DC motor was realized by using DAQ device. Ball and Beam is a common feedback control system application, due mostly to its ease in construction and its use in learning. Using Labview makes the application very useful for teaching and training students in data conversion domain. The system includes a ball, a beam, a motor and several sensors. The basic idea is to use the torque generated from a motor to control the position of the ball on the beam. The mathematical model for this system is inherently nonlinear, so linearization was done in order to improve the controllability of the system. Data acquisition, signal processing and analyzing can be completed by virtual instrument based on LabVIEW.

The practical implementation of advanced controlled system for an industrial application involves a wide variety of integrated field such as control electronics, power electronics, electric machine and drives. The ball and beam educational tool presented here allows student to work with all different fields. The system includes a ball, a beam, a motor, several sensors, intelligent drive and PC as a host. This educational tool involves the modelling process, analysis and control of the ball and beam system using Matlab/Simulink and experimental hardware. The control is designed in closed-loop system using PID tuning method. This research presents the very useful and influential laboratory system that provides PC-based control software that enable student to compare the simulation and experiment. Thus, it is easier for students to relate the theoretical concepts that they have learned in class.

IFAC-PapersOnLine

This paper presents a virtual and remote laboratory of the ball and plate system with augmented reality. The ball and plate is a non-linear, multi-variable and open-loop unstable system. Due to its inherent complexity, presents challenging problems, such as: 1) point stabilization control, to carry the ball to a specific position and hold it there, and 2) trajectory tracking control, in which the goal is to make the ball follows a predefined geometric trajectory (square and circle) minimizing the tracking error. The laboratory is composed by two parts: 1) a virtual laboratory developed in Easy Java Simulations (EJS), which is a 3D interactive simulation of the system; 2) a remote laboratory (developed with EJS and LabVIEW) to connect via Internet to a pilot plant of the system, situated in the laboratory. This laboratory is used in the Systems and Control Engineering Master Program offered by

Analele Universităţii "Constantin Brâncuşi" din Târgu Jiu: Seria Inginerie, 2019

This paper presents ball and beam system, this is laboratory equipment with high nonlinearity in its dynamics. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design controller to control the ball position. MATLAB/SIMULINK software program has been used to plot instant system response and to determine the system characteristics with different values of controller parameters in order to choose parameters values which obtained best performance for the system.

The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. The LQR is designed considering two Degrees-of-Freedom and Index terms: Ball and beam, proportional derivative integral controller, linear quadratic regulator, genetic algorithm coupling dynamics. The parameters of the LQR are

2008

This paper describes an interactive learning tool that can be used in control systems lectures to a better understanding of some control methods and to improve control systems design. The Virtual Laboratory was built as a teaching aid during automatic control lectures and also to be used by students for problem solving and individual learning of different control methods. A 3D scene with a friendly appearance shows a simulation where a ball is placed on a beam being allowed to roll along its length. The Virtual Laboratory experiment goal is to stabilize the ball in a desired position changing the beam angle.

International journal of engineering research and technology, 2015

The ball and beam system can usually be found in most control labs since it is relatively easy to build, model and control theoretically. The system includes a ball, a beam, a motor and several sensors. The basic idea is to use the torque generated from motor to control the position of the ball on the beam. The ball rolls on the beam freely. By employing linear sensing techniques, the information from the sensor can be taken and compared with desired position values. The difference can be fed back into the controller, and then into the motor in order to gain the desired position. The mathematical model for this system is nonlinear but may be linearized around the horizontal region. This simplified linearized model, however, still represents many typical real systems, such as horizontally stabilizing an airplane during landing and in turbulent airflow. By considering real plant problems such as the sensor noise and actuator saturation, the controllers of the system become more efficient and robust. There are number of alternative controller design theories that can be used to stabilize the ball and beam system. In the system, to stabilize the ball and beam system modified PD controller is designed and system responses of modified PD controller and modified PD-PSO controller are compared. I.

The ball and beam system is a classical mechanical system consisting of a ball that moves over a beam in a planar movement. The beam can rotate around its center of gravity, and an elastic belt attached to the beam extremities (and an electric motor) allows the transmission of control forces to the beam in order to cause the movement. The ball translates and rolls, always maintaining a contact with the beam. The ball's rolling movement can be without or with slipping, and this last kind of rolling movement is more likely to occur in high beam's angles (in relation to a horizontal line) and in higher ball's velocities. The friction model between the ball and the beam (and the beam and its bearing) is also complex, involving possibly dry and viscous friction together. We present the modeling, control and implementation of a closed loop control system for a ball and beam system. Firstly, we present and compare the mathematical model, considering rolling without and with slipping. A closed loop controller is then designed and implemented in the real system in order to do a comparative analysis. Despite of being a didactical system, the ball and beam presents a complex dynamics, with several nonlinearities, with an infinite number of equilibrium points (if we apply a torque in the beam) and a difficult-to-determine friction model. Finally, conclusion for the modeling, simulation and control techniques are drawn, and future research directions are pointed out.

International Journal of Engineering Research and Technology (IJERT), 2015

https://www.ijert.org/mathematical-modeling-simulation-and-control-of-ball-and-beam-system https://www.ijert.org/research/mathematical-modeling-simulation-and-control-of-ball-and-beam-system-IJERTV4IS030879.pdf The ball and beam system can usually be found in most control labs since it is relatively easy to build, model and control theoretically. The system includes a ball, a beam, a motor and several sensors. The basic idea is to use the torque generated from motor to control the position of the ball on the beam. The ball rolls on the beam freely. By employing linear sensing techniques, the information from the sensor can be taken and compared with desired position values. The difference can be fed back into the controller, and then into the motor in order to gain the desired position. The mathematical model for this system is nonlinear but may be linearized around the horizontal region. This simplified linearized model, however, still represents many typical real systems, such as horizontally stabilizing an airplane during landing and in turbulent airflow. By considering real plant problems such as the sensor noise and actuator saturation, the controllers of the system become more efficient and robust. There are number of alternative controller design theories that can be used to stabilize the ball and beam system. In the system, to stabilize the ball and beam system modified PD controller is designed and system responses of modified PD controller and modified PD-PSO controller are compared.

The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. 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. The system consists of an Arduino microcontroller. It receives the ball position from ultrasonic distance sensor and compares it with the desired distance which can be set by the user. PID algorithm has built in Arduino to process the difference in signal between desired and real position into control signal. Arduino sends control signal to the DC servomotor which rotates to change the ball position and meet the desired distance. MATLAB software program has been used to plot instant system response. Arduino is interfaced with computer to determine the system characteristics with different values of controller parameters in order to choose parameters values which obtained best performance for the system.