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project - Chapman Anonymous EE 3530 Feedback Control of...

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Chapman Anonymous EE 3530 Feedback Control of Ball and Beam System May 9, 2007
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Chapman Executive Summary: The main goal of this project was to understand and apply principles needed to design a feedback control system. The project involved a gear mechanism which was to be programmed to rotate through a predetermined angle. The movement of the gear mechanism then caused one side of a beam to move upwards. In executing these movements and “controlling” the parameters involved, the system allowed for a small ball to slide along the moving beam and for us as designers to cause it to reach a desired position. To be technical, this system that we are controlling is actually comprised of two subsystems: (1) The mechanical subsystem (the ball and beam), and (2) a DC motor (gear box and lever arm). In order to design a well-working system, one must determine various parameters. Some of these parameters involve steady state error, overshoot, settling time, and peak time. There is a direct mathematical way to solve for these parameters, but as we found in the lab, the results of the mathematics is hardly representative of real-world results. We found that we would have to tweak our results in order to achieve a desirable outcome. We did so by executing a simulation of our design and tweaking the parameters for which we solved.
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