Controls_Project_Spring_2005-1

Controls_Project_Spring_2005-1 - Theo Akofio-Sowah(6818 EE...

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Theo Akofio-Sowah (6818) EE 3530 Controls Ball and Beam Design Project May 06, 2005
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Summary The ultimate goal of this design project is to design a controller, which controls the position of a ball on a beam. A servo, which controls the angle of the beam by raising or lowering one side of the beam, will move the ball from one position to another as in the illustration below. The ball and beam system is divided into three main parts: 1. Mechanical This part will be simplified to a transfer function, which outputs the ball position from an input as a function of the servo angle (θ). 2. Servo The servo controller will be designed to track the input angle (θ d ) as best as possible so that θ ≈ θ d . 3. Controller The controller for the ball and beam system will be a transfer function with an input of the difference between the desired position of the ball and the actual position of the ball and an output of the required servo angle. 2
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Table of Contents I. Mechanical A. Determine the motor parameters B. Refine and verify design II. Design the ball position controller A. Determine unknown parameters B. Determine parameters K and P III. Testing and fine tuning IV. Conclusion 3
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I. Mechanical
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