Controls Project Spring 2005

Controls Project Spring 2005 - Randall P. Robert (9771) EE...

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Unformatted text preview: Randall P. Robert (9771) EE 3530 Controls Ball and Beam Design Project May 14, 2005 Summary The ultimate goal of this design project is to design a controller, which controls the position of a ball on a beam. Moving the ball from one position to another will be accomplished by a servo which controls the angle of the beam by raising or lowering one side of the beam. A simple illustration can be seen below. The ball and beam system is divided into three main parts: mechanical, servo, and controller. The mechanical aspect will be simplified to a transfer function, which outputs the ball position from an input as a function of the servo angle (). The servo controller will be designed to track the input angle ( d ) as best as possible so that d . 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 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 I. Mechanical The mechanical aspect of the ball and beam system consists of the ball lying on an inclined plane, the beam,...
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Controls Project Spring 2005 - Randall P. Robert (9771) EE...

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