Interactive demonstration of feedback control for a ball and beam system. Ball on plate balancing system progress report for ecse4962. Considering the given characteristics the ball and plate system makes an. The system includes a ball, a beam, a motor and several sensors. Ball on plate simscape model, control and diagnostics mathworks. Simulation was done in matlabsimulink environment, and the simulation results showed that the plate was stabilized at 0. Tools and controls software from expertcontrol can make pid tuning a snap. Preprocessing is done using a standard fem software. A lever arm is attached to the beam at one end and a servo gear at the other.
This allows the user to see the correlation between the plot and the systems physical response. Simulation was done in matlab simulink environment, and the simulation results showed that the plate was stabilized at 0. 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. Two rotary servo base units are connected to the sides of the plate using 2 dof gimbals. And i dont have any idea how to perform image processing in labview, so i want to perfrom all the operations in matlab. Iterative feedback control of plateball orientation and. The system for the course project is a ballplate balancer, as shown in figure 1. By doing this we are essentially controlling a torque applied at the center of the beam by a motor. Mechatronic design of a ballonplate balancing system. The statespace representation of the ball and beam example is given below.
The ballonplate systems which can be found in literature vary in size, mechanical principles for the plate tilting and the used sensors for measuring plate angles and the ball position. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. With the help of the software program with matlab gui the ball can be placed in any static location. The problem of the ball on beam becomes interesting because when the ball begins moving it will roll off the end of the beam if no control action is taken. Each motor will be controlled using software, with a. The system utilizes a webcam, matlab simulink, an arduino, and two servo motors to. The stewart platform is a classic example of a mechanical design that is used for position control. Apr, 2017 question about ball and plate system model. The algorithm takes an input image of the number plate and after filtering it compare each region with templates and returns string of number plate characters. Dec 27, 2011 a thin plate under uniform transverse pressure is considered with simply supported and clamped boundary conditions.
Licence plate recognition file exchange matlab central. And i need to perform image processing and control operations in runtime. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. This file was selected as matlab central pick of the week. Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. The tracking software, called ball tracker, is developed as the result of the project. The ballonplate balancing system has a camera that captures the ball position and a plate whose inclination angles are limited. Before running the matlab code snippet below, get hold of a tennis ball and place it in the view of the raspberry pi camera board. Ball and plate pid control with 6 dof stewart platform xpost rgifs.
I want to interfaceintegrate feedbacks ball and plate system with matlab. This matlab function applies the algorithm in a framework for the stabilization of general nonholonomic systems with an application to the plate ball mechanism by giuseppe oriolo and marilena. When the ball starts moving, it will roll off the end of the plate if no control action is taken. Aug 27, 2014 originally the ball and plate system is integrated with labview.
We intend that the initially horizontal plate will be tilted along each of two horizontal axes in order to control the position of the ball. Each motor will be controlled using software, with a minimum. Question about ball and plate system model matlab answers. Ball tracker offers a couple of features in which users can experience. Linking feedbacks ball and plate system 33240 with matlab. Using this capability we will develop an ball tracking algorithm. The matlab support package for raspberry pi hardware allows you to capture images from the raspberry pi camera board and bring those right into matlab for processing. Before obtaining a step response, we must set the physical parameters. Ball and plate arduino linearquadraticgaussian lqg control duration. Considering the given characteristics the ball and plate system makes an excellent. Below is a few key features that is available in ball tracker.
A 2d ball plate based method is proposed for the calibration of threedimensional laser scanning system. Hi im looking at designing and building a ball on a plate balance system. Matlabsimulink are used to 1 measure the balls position through image. Ball and plate state space observer control with position control of pmdc motors duration. Ball on plate using webcam, arduino and simulink disturbance rejection 3of3. The hardware has two servos as inputs and position of the ball as output.
Another safety measure is inherent to the operation of the touch screen coordinate system should the ball break contact with the plate, the system returns 0,0 positions. 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. Matlab balance a ball on a plate using simulink with a. The raspberry pi camera board is a custom designed addon module for raspberry pi hardware. 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. Ball on plate control projects electronics engineering. Sep 14, 2016 hi im looking at designing and building a ball on a plate balance system. This device is intended to be developed into a commercial device and maybe sold to educational institutes or young apprentices in the field of control systems. Pdf modeling and control design for the ball and plate system. A ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam. Design and implementation of ball and beam system using. Modelling and control of ball and beam system using.
Using the proportionalderivative pd family, a cascade control system is designed to meet a set of specifications. Ball on plate using webcam, arduino and simulink step response 1of3 blogger45. Introduction the matlab support package for beaglebone black hardware allows you to capture images from the web camera and bring those right into matlab for processing. I need to draw a small animation of the ball moving on the plot. I remember any sort of pid tuning to be extensive in matlab. 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. This is a project done for a master thesis in the electromechanical engineering specialization. While the matlab code is running, move the ball around. Design and implementation of ball and beam system using pid. Fuzzy logic algorithm was built according to the system under investigation. The papers presents an implementation of the predictive state space control algorithm, called model predictive control mpc. The ball position was obtained by a digital camera and the image was processed in matlab simulink environment. Feedback control of a plateball system controls a sphere by rolling without.
Calibration of laser scanning system based on a 2d ball plate. Ball on plate balancing system progress report for. The system for the course project is a ball plate balancer, as shown in figure 1. Ball on plate simscape model, control and diagnostics. Ball on plate using webcam, arduino and simulink step. Learn more about artificial neural network, lpr, ocr, ann. Pdf modeling and control design for the ball and plate. A thin plate under uniform transverse pressure is considered with simply supported and clamped boundary conditions. With the help of the software program with matlab gui the ball can be placed in any static location on the plate with corrections for every disturbance. The values obtained are compared with standard fem software. 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.
Srv02 ball and beam control laboratory student manual 1. The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. Simulation results and discussion the structure of ball and beam system with znpid controller and cdmpid controller in matlabsimulink plate form is shown in figs. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as. Originally the ball and plate system is integrated with labview. Ball and plate pid control with 6 dof stewart platform x.
May 02, 2011 the ball and plate is a classic example of inherently unstable, nonlinear and in many cases coupled system. This is the ball on plate simscape model, control and diagnostics. Introduction the objective of the ball and beam experiment is to stabilize the ball to a desired position along the beam. The apparatus consists of a plate pivoted at its centre so the plate can tilt in two directions. Plate is dicretized isoparametric four noded q4 elements. These lab experiments operate from simulink and simulink desktop. Ce151 ball and plate description the ball and plate apparatus shows the problems of the control of an unstable system.
Make a ball bounce in a scene learn more about bouncing ball, object in scene. Regarding the other two path following square path and circular path the system performed well too with slight oscillations about the intended path. A ball on plate system is the two dimension extension to the ball on beam system. We will call this function on the images captured in a loop. Control of a ball and beam system university of adelaide. Matlab, solve and drawing ball trajectory stack overflow. Ball and plate model power supply a data acquisition board for your computer camera with usb connection the data acquisition board. Adaptive embedded control for a ball and plate system. Ball and plate pid control with 6 dof stewart platform xpost rgifs close. Iterative feedback control of plate ball orientation and. This method places a 2d ball plate in a skewed way on the rotation stage as the calibration reference. With regard to software, torque thresholds could be added to prevent violent behavior under unstable conditions. I am doing a project on the concept of automatic number plate recognition anpr using matlab using artificial neural network for ocroptical character recognition.
The following matlab project contains the source code and matlab examples used for iterative feedback control of plate ball orientation and position. It is a parallel mechanism that consists of a rigid body top plate, or mobile plate, connected to a fixed base plate and is defined by at least three stationary points on the grounded base connected to six independent kinematic legs. The ball position was obtained by a digital camera and the image was processed in matlabsimulink environment. A ball is thrown at angle 45, from initial height 1,5m,with speed 4 ms. Mechatronics, it is about the design and control of a ball and plate didactic device. Fuzzy logic based ball on plate balancing system real time. Learn more about ball playe system, pid controller matlab, simulink, image acquisition toolbox. The ball and plate is a classic example of inherently unstable, nonlinear and in many cases coupled system.
The major developments are the structural design and analysis, control system design and analysis, actuators, sensors, prototype assembly, circuitry and programming. Equivalent cdm block diagram by comparing the figs. We fully discussed the design principle of the ball plate, and presented the optimization fitting model of the ball center coordinates. Mathworks is the leading developer of mathematical computing software for engineers and scientists. Using finite element method plate equations are solved.
The system utilizes a webcam, matlabsimulink, an arduino, and two servo motors to balance a balllike object or have it follow a reference. Each tilting axis will be operated on by an electric motor. Humusoft lab experiment support from simulink mathworks. The 2 dof ball balancer module consists of a plate on which a ball can be placed and is free to move. Sign up this is a project done for a master thesis in the electromechanical engineering specialization. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. Learn more about scale, simulation, homework, doit4me, duplicate post. I want to draw the trajectory of a flying ball and find where it will fall.
Jan 10, 2017 how to interface touch screen with simulink to. Should the ball leave the plate entirely, the system will. This matlab function applies the algorithm in a framework for the stabilization of general nonholonomic systems with an application to the plateball mechanism by giuseppe oriolo and marilena. Contains the simscape model and diagnostics for ball on plate.