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My Project - Ball & Beam Project EE 3530-Intro to...

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EE 3530-Intro to Control Engineering By: Matthew Cotaya Table of Contents Page
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1. Executive Summary……………………………………………3 2. Introduction…………………….………………………………3 3. Design Method Discussion. .…….……………………………. ..4 4. Inner Loop Analysis. ..………….……………………………. ...5 5. Outer Loop Analysis.….……….……………………………….7 6. Simulation………………………………………………………9 7. Controller Implementation……………………………………. .12 8. Implementation with Disturbance.……………………………. .15 9. Conclusion……………………………………………………. .17 10.Post Lab Questions…………………………………………….18 Executive Summary
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The Ball and Beam project is a necessary step in the education of anyone in the field of Control Engineering. By being capable of implementing basic and complex concepts, the ball and beam project allows for further understanding regardless of a person’s knowledge of the subject. In this experiment, a controller was designed to regulate the movement of a metal ball placed on a steel beam. A voltage measured on this steel beam allows the controller to know the position of the ball and adjust the servo gear such that the beam will be tilted at the proper angle for the ball to maintain the desired position. The MATLAB 7.9.0 software will be used to simulate the design of the controller for the ball and beam system. Finally, the controller will be tested in the lab on an actual ball and beam module to ensure the controller works properly. Introduction The ball and beam project invokes the use of control engineering to model a proper working ball and beam system. The ball and beam system is a simple, open-loop unstable system, which means constant adjustments will be needed because there is no automatic feedback. The actual system consist of a beam, which is fixed at one end, a metal ball placed on the top of that beam, and an electric motor that tilts the beam upon its pivot point depending on the position of the ball. The objective of the ball and beam experiment is to design a controller that will use an electric motor to control the position of the ball placed on the beam. The ball and beam system uses a beam that is made up of a steel rod and a wire- wound resistor. The metal ball makes contact between the steel rod and the resistor and allows for a current to flow through them. To calculate the position of the ball, a voltage is measured on the steel rod. The voltage measured on the steel rod is used by the controller to compute what angle the rod should be adjusted to such that the ball will roll to its desired position. We will use MATLAB 7.9.0 to simulate this experiment as well as to control the actual ball and beam system.
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Design method discussion The controller for the ball and beam system can be designed using the state-feedback
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My Project - Ball & Beam Project EE 3530-Intro to...

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