Simulink file that simulates the cascade ball position controller. The obtained simulations were shown in dymola and simulink. Bb01 control ball and beam position control using quarc student. The system includes a ball, a beam, a motor and several sensors. When the angle is changed from the horizontal position, gravity causes the ball to roll along the beam. By doing this we are essentially controlling a torque applied at the center of the beam by a motor. Modelling and control of ball and beam system using. 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.
A controller will be designed for this system so that the balls. 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. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Control tutorials for matlab and simulink is a set of modules consisting of control tutorials for matlab and simulink, curriculum for a first course in systems dynamics and control and a set of. The main purpose of this project is to balance ball on beam using proportional integralderivative pid controller design with matlab and related control. The statespace representation of the ball and beam example is given below. Control of a ball and beam system the university of adelaide. The complete matlab code can be seen in appendix 7. The ball and beam system is driven by the servomotor as shown in figure 9. In this video im showing how to build, use and tune pid controller in matlab workspace and in simulink model. Simulation of the ball and beam control to ensure that the specifications are met. Parameters of ball and beam system symbol m r d g l jb r description mass of the ball radius of the ball lever arm offset gravitational acceleration length of the beam balls moment of inertia ball position coordinate beam angle coordinate servo gear angle values 0. Design and implementation of ball and beam control. The usual need for the manual conversion of equations to a block.
Ballandbeam laboratory system controlled by simulink model. A lever arm is attached to the beam at one end and a servo gear at the other. The ball and beam balance problem is a classic open loop unstable system. Modeling and control of the ball and beam process modellering, simulering och reglering av kula pa bom. Enter the bb01 model gain found in prelab question 1 in the matlab. Make sure the manual switch in simulink implementation diagram is connected.
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