Pdf design and control of ball on plate system researchgate. University of newcastle upon tyne school of electrical, electronic and computer engineering matlabsimulink tutorial release version 6. The setup combines elements of mechanical, electrical and control engineering and is. A ball on plate system is a widespread education oriented laboratory experiment for automation in mechatronics.
One can refer to stepbystep instructions for modeling a bouncing ball as a stateflow chart the dynamics of a bouncing ball can be defined in terms of two continuous time variables, namely the position and the velocity of the ball, as shown in fig. Technical details of the ce151 model were obtained mainly from model manual 1. Persistent persistent r, c can be declared and used only in functions. Matlab balance a ball on a plate using simulink with a. Apr, 2017 question about ball and plate system model. System modeling and simulation provide useful and safe mechanisms for initial controller design. We will be taking these variab as m1 and m2 from the matlab environment, so we can just enter the variab in the gain blocks. Identification and nonlinear control of a ballplate. The first three tutorials are selected from the matlab simulink help. Page 7 of 43 2 2 x r j dt d x r j dt d v r j dt dw t f r j b b r rx 4. December 1996 second printing revised for simulink 2 january 1999 third printing revised for simulink 3 release 11 november 2000 fourth printing revised for simulink 4 release 12 july 2002 fifth printing revised for simulink 5 release april 2003 online only revised for simulink 5. Es205 getting started with simulink page 16 of 16 this concludes the simulink tutorial module. Steady state value is the final value of the system settles at after transient. To complete the worksheet you are expected to understand and use the terms below.
System consist of 2 digital servo motors hs422 eco, microcontroller arduino uno, and 4 wire resistive touchscreen 7. The ball and beam system shown below in figure 1 has the control objective of placing the ball anywhere along the beam by varying the motor voltage. This project uses simulink to make an arduino based. Balance a ball on a plate using simulink with a webcam and an. First, we will study the response of the system shown above when a proportional controller is used. This project deals with the control system of the plant ball and plate. Control tutorials for matlab and simulink designed to help you learn how to use matlab.
Learn more about ball playe system, pid controller matlab, simulink, image acquisition toolbox. There is no need to submit any report and you just need to finish the three tutorials as well as the example. 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. Modelling of ball and plate system based on first principle model and optimal control frantisek dusek, daniel honc, rahul sharma k. Levitate a ping pong ball using arduino and simulink. 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 homework problems and exams for a second course in controls. The deformation is achieved by modifying the scale field of the ball. The system the system for the course project is a ball plate balancer, as shown in figure 1. Modelling and control of ball and beam system using. Hi im looking at designing and building a ball on a plate balance system. Later in this tutorial, we will implement a lead compensator.
Quanser 2 dof ball balancer workbook madeforscience gmbh. Ball on plate balancing system progress report for ecse. In 2 dof ball balancer user manual 6, the image viewed by the camera has to be customized in order to. Ball on plate using webcam, arduino and simulink disturbance rejection 3of3. There is a groove called the ball path on both the inner and outer races of ball bearings in which the balls roll. 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. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as openloop response. A bouncing ball model is a classic example of a hybrid dynamic system.
Ball and beam control system simulation with simulink. 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. Simulink basics tutorial starting simulink basic elements building a system running simulations s imulink is a graphical extension to m atlab for the modeling and simulation of systems. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. Ball and beam control system simulation with simulink grabcad. The vrbounce example visualizes a ball bouncing from a floor.
Before obtaining a step response, we must set the physical parameters. Scripts share local variables with functions they call and with the base workspace. The system utilizes a webcam, matlab simulink, an arduino, and two servo motors to balance a ball like object or have it follow a reference. You can find more detailed information in the software help.
Lq control of ball and plate system controlled by arduino mega 2560. We will start by considering only the vertical motion of the cannon ball under the influence of gravity. Simulink blocks and the stateflow charts of the model. Matlab is used to evaluate the closed loop system response and to determine the pid parameters. Matlab simulink environment for modeling of vehicle thermal management systems capable of co simulations with vehicle level models. Jan 05, 2017 ball on plate simulink model hakan yurt. Pid control system design and automatic tuning using matlab. The fourth example is a simple simmechanics example which can help you learn the simmechanics more. Expand your knowledge through interactive courses, explore documentation and code examples, or watch howto videos on product capabilities. A ball is thrown up with a velocity of 15 ms from a height of 10 m. Question about ball and plate system model matlab answers. The rate at which the model introduces air into the intake manifold can be expressed as the product of two functionsone, an empirical function of the throttle plate. The model leverages the two examples provided by mathworks. It is assumed that the reader has already read through the beginner and intermediate matlab tutorials.
Pdf developing a matlab model for flat solar collectors. Matlab simulink are used to 1 measure the ball s position through. Ball on plate using webcam, arduino and simulink step response 1of3. Secondly, all torques acting on the beam are summed in order to isolate the input variable voltage. Extracting the model into matlab the simulink model can be extracted into an equivalent statespace or transfer function model in matlab. Learn with matlab and simulink tutorials mathworks. Start learning matlab and simulink with free tutorials. Gravity tends to make the pendulum ball return to the vertical position. To open a new simulink session either type simulink or click the simulink button. Model predictive control of a ball and plate laboratory model. Educational technology consultant mit academic computing. These gain blocks should contain 1m for each of the masses. Ball on plate using webcam, arduino and simulink step.
To begin your simulink session, start by clicking matlab icon matlab 7. Aug 05, 2010 ball on plate using webcam, arduino and simulink step response 1of3. Find these and other hardware projects on arduino project hub. Equivalent cdm block diagram by comparing the figs. The first three tutorials are selected from the matlab. When the ball starts moving, it will roll off the end of the plate if no control action is taken. There are two pid controllers working separately for each axis. The goal of the ballonplate balancing system is to create a control system that. Pdf modeling and control design for the ball and plate system. It supports systemlevel design, simulation, automatic code generation, and.
Using the serial touch screen controller with matlab and xpc target requires using the rs232 blocks. Adaptive embedded control for a ball and plate system. Weve selected more than 527 simple, fun and effective baseball drills covering every fundamental skill. Pdf ball on plate simscape model, control and diagnostics s. Rolling ball on a beam freebody diagram the inclination is considered the xcoordinate. Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. Global global speedoflight shared by functions, scripts, and base workspace. The modeling and simulation of the bouncing ball example can be found in. The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. Control of a ball and beam system mechanical engineering. The block diagram for this example with a controller and unity feedback of the ball s position is shown below. Simulink enables the rapid construction and simulation of control block diagrams. It will show you how to use simulink to model and simulate a dynamic system. A ball onplate system is a widespread education oriented laboratory experiment for automation in mechatronics.
Balance a ball on a plate using simulink with a webcam and an arduino board. This was a project for automated control systems course, i managed to import this cad model to the simulink environment in order to simulate the dynamics of the control system. Simulink tutorial introduction starting the program. System modeling with modelica object management group.
Ball on plate balancing system progress report for. The ballonplate system as implemented has limited consumer appeal. Pdf these four folders contain solutions for problems related to ball on plate for. The ball deforms as it hits the floor keeping the volume of the ball constant. The ball and plate control system was considered as a double feedback loop. The goal of the tutorial is to introduce the use of simulink for control system simulation. The system includes a ball, a beam, a motor and several sensors. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. For roller bearings, the rollers roll on the flat surface of each race. Introduction until now the programming instruments used for ball and plate model control included mostly matlab and simulink. The grabcad library offers millions of free cad designs, cad files, and 3d models. In this paper, a complete physical system and controller design is. Join the grabcad community today to gain access and download. Module 2 introduction to s imulink although the standard matlab package is useful for linear systems analysis, simulink is far more useful for control system simulation.
Pid control system design and automatic tuning using matlab simulink is intended for undergraduate electrical, chemical, mechanical, and aerospace engineering students, and will greatly benefit postgraduate students, researchers, and industrial personnel who work with control systems and their applications. Its everything you need to engage your kids in practice, improve their skills, and win more ball games. The system should have accuracy of ball on the screen, as well as the ability to move the ball from one end of the plate to the other in less than 2 seconds. Simulink is a block diagram environment for multidomain simulation and modelbased design. One can refer to stepbystep instructions for modeling a bouncing ball as a stateflow chart. Modelling and control of ball and beam system using coefficient. The ball on plate problem consists of a flat plate on which a ball needs to be positioned. Slovak university of technology in bratislava institute of. Learn how to develop a magnetically levitated ball using matlab, simulink, and an. This exercise is designed to introduce you to modelling in simulink. The aerodynamic drag on the ball tends to make the.
The proposed cdmpid controller was tested with the transfer function. For this problem, we will assume that the ball rolls without slipping and friction between the beam and ball is negligible. Simulink, and stateflow are not included with this booklet. Simulink diagram used to calibrate camera using quarc. The papers presents an implementation of the predictive state space control algorithm, called model predictive control mpc. Therefore, some method of controlling the ball s position in this system is required. The aim of this project will be to create a ball plate system using a resistive touch sensor to allow the movement of a ball by means of automatic control. Simulation of a bouncing ball matlab and simulink tutorials. A hybrid dynamic system is a system that involves both continuous dynamics, as well as, discrete transitions where the system dynamics can change and the state values can jump. Modelling and control of ball and beam system using coefficient diagram method cdm based pid controller. Ball positioning is only achieved through unstable equilibrium where any small changes in the plate angle will result in the continual acceleration of the b. 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. In simulink, systems are drawn on screen as block diagrams.
The constants and variables for this example are defined as follows. Ball on plate balancing system progress report for ecse4962. Simulink modeling tutorial attach each one with a line to the outputs of the sum blocks. Simulink tutorial introduction this document is designed to act as a tutorial for an individual who has had no prior experience with simulink. Sep 14, 2016 hi im looking at designing and building a ball on a plate balance system. Ball and beam control system simulation with simulink 3d. Pdf modeling and control design for the ball and plate.