As described in the prelab, the purpose of this laboratory is to control a balls position along a beam by manipulating the load angle of the servo motor. Feedback instruments ball and plate control system is controlled by ni labview using a ni interface card and demonstrates a classic control problem of balancing a sphere on a flat surface and maintaining its position. The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. Using labview makes the application very useful for teaching and. Ejemplo arduino pid discreto labview ball and beam youtube. Ball and beam control system trainer kit by acrome. Of computer science and automatic control uned, c juan del rosal 16 28040 madrid, spain email. The first one, a fuzzy logic controller has been developed with the help of simulink and. Pdf application of a labview for realtime control of ball. The assignment was to construct a ball and beam control system. The software is available for purchase on the labview tools network. He ball and beam device in controls education provides an example of underactuated mechanical systems and examples of lqr and pole placement design. This paper presents a webbased control laboratory of a nonlinear and.
Ball and beam is a common feedback control system application, due mostly to its ease in construction and its use in learning. Then, by using the data received from myrio, five different leds turn on and off depending on the position of the ball on the beam. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. Ball balancing table, with its easily accessible and userfriendly components, is a handson experiment, closing the gap between real industrial systems and diyapproach. The analysis program computed the average friction coefficient by averaging the friction force over the mid 80% of the track and dividing by the mean load.
Labview 20 for myrio module, labview 20 pid and fuzzy logic toolkit. The hardware should be purchased separately from acrome. Predesigned ball and beam model and controllers are ready for performance measurements and observing responses of fundamental controller types. Ball and beam using a webcam and ni labview youtube.
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. The code for i2c serial communication between the msp430 and myrio in code composer studio software. Of computer science and automatic control uned, c juan del rosal 16 28040 madrid. The complete description of the dynamics of the ball rolling on the beam is quite complicated and for control. Customizable software with userfriendly gui national instruments labview based open source software allows students implementing their own controller designs. Quanser controls board quanser aero qube servo 2 rotary double inverted pendulum. Pdf design and implementation of an embedded ballbeam. In this code, the realtime position data of the ball on the beam from the camera in labview, has been sent to the msp430 using i2c protocol. The track is effectively a potentiometer, outputting a voltage thats proportional to the position of the ball. It introduces the concept of labview component oriented design lcod making the development of large applications manageable. Dec 17, 2011 we control the classic ball and beam system using a camera as feedback. As the servo gear turns by an angle, the lever changes the angle of the beam by. Software package with driver and graphical user interface for operating the.
The position of the ball is measured by a distance sensor mounted at the end of the beam. Experimental control design for ball and beam system author. Ball balancing table, with its easily accessible and userfriendly components, is a hands on experiment, closing the gap between real industrial systems and diyapproach. It is a crash course on software design using labview as the tool. A feasibility assessment of using ultrasonic sensor. A ping pong ball sits on top of the beam rolling forwards and backwards according to the pitch of the beam. Open source software makes it possible that students and researchers can modify and test their own developed algorithms. Experimental control design for ball and beam system by.
The full product is comprised of both software and hardware. Control of a ball and beam system using fuzzy logic. Feedback instruments ball and plate control system is controlled by ni labview using a ni interface card and demonstrates a classic control problem of balancing a sphere on a flat surface and. This paper presents a realtime application of ball and beam controlled by pid controller designed based on labview program and the real time position. Ball and beam control system trainer kit by acrome national. Beamview software the latest release of the beamviewusb 4. Design and implementation of ball and beam system using pid. The connections shown below are illustrated using a generic data acquisition daq device and a voltpaqx1 amplifier you may have a different daq or amplifier. An pid controller is used to control the position of the ball on the beam. Software for the ball and beam control system trainer kit by acrome. Design and implementation of ball and beam system using. Application of a labview for realtime control of ball and beam system basil hamed abstract virtual instrumentation is defined as the combination of measurement and control hardware and application software with industrystandard computer technology to create userdefined instrumentation systems. Pid controllers are designed based on labview program.
The program acquired 256 load and force points per cycle. A lever arm is attached to the beam at one end and a servo gear at the other. Iacsit international journal of engineering and technology, vol. In our project, weve developed two controllers to stabilize the system. This was a school project, the assignment was to construct a ball and beam control system.
Servos like this usually operate in radio control vehicles and they are very. Iacsit international journal of engineering and technology. The grabcad library offers millions of free cad designs, cad files, and 3d models. Ball and beam components the ball and beam components are identified in section 2. A ball on plate system is the two dimension extension to the ball on beam system. When the angle is changed from the horizontal position. Then, by using the data received from myrio, five different. Our ball and beam system provides practicing the automatic control theory on a closed loop experiment. This document and the software described in it are provided subject to a license agreement. Click the beamviewusb software installation guide link to view the document. The construction of the ball on beam involves a beam that can be tilted either from the centre of the axis.
The acrome ball and beam control system trainer kit is designed for the study of the fundamentals of automatic control theory. Labview is systems engineering software for applications that require test, measurement, and control with rapid access to hardware and data insights. The ball and beam is an unstable system, similar to exothermic chemical processes that have to be. Follow the procedure below to set up your ball and beam module. Labview includes builtin support for ni hardware platforms such as compactdaq and compactrio, with a large number of devicespecific blocks for such hardware, the measurement and automation explorer max and virtual instrument software architecture visa toolsets. Laboratory virtual instrument engineering workbench labview. The ball and beam module can also be paired with an additional remote sensor. Labview projects for engineering students currently, the labview based hardware units are commonly used in various industries due to their features like rugged design and exact control. Modular design high quality precision crafted parts. Software for thorlabs beam profilers and m 2 measurement systems. Labview projects for engineering students elprocus.
The problem of the ball on beam becomes interesting because when the ball begins moving it will roll off the end of the beam if no control action is taken. Join the grabcad community today to gain access and download. This permits a masterslave configuration where the ball command is generated by the ss01. Basil hamed application of a labview for realtime control of ball and beam system iacsit international journal of engineering and technology, vol. Application of a labview for realtime control of ball and beam. The srv02 ball and beam module can also be accompanied by a remote ball sensor called the ss01 module. Application of a labview for realtime control of ball and. Jul 25, 2016 the ball and beam system constitutes a classic control system problem. Average the two ball positions from the two polynomials in labview to get one final ball position measurement x this is the value well use for our ball position throughout the lab. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics and pid control. A ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam. Labview software was used to program the tribometer and collect normal load and friction force data. Quansers expansive range of products and platforms offer the fastest and easiest way to meet academic objectives for teaching and research.
Construction s can vary, but the principles are similar. The communication of these can be done using different protocols namely rs232, tcpip, rs485, etc. The pitch is controlled by a servo that is connected to an arduino. Uses the control algorithm to automatically position the ball at the desired setpoint the software was developed using labview s prebuilt library of control functions. For full details, see the ball and beam user manual enclosed with shipment. This was suplimented by some custom functionality, which performs easing on the servo motor to facilitate smoother motion. The connections shown below are illustrated using a generic data acquisition daq device and a voltpaqx1 amplifier you may have a. As described in the prelab, the purpose of this laboratory is to control a balls position. Controlling the position of a ball on a beam is one of the classical problems of control theory. Abstractvirtual instrumentation is defined as the combination of measurement and control hardware and application software with industrystandard computer technology to create userdefined.
Ejemplo arduino pid discreto labview ball and beam duration. This permits a masterslave configuration where the ball command is generated by the ss01 instead of through a program. The ball and beam module can be operated in standalone mode, and the ball position can be controlled via the user interface. Dec 14, 2015 a pid algorithm measures the distance to the ball and raises or lowers a beam to try to get the ball to the center. A feasibility assessment of using ultrasonic sensor position. It is a great introduction to linear systems and cascade controllers. The ball and beam module consists of a steel rod in parallel with a nickelchromium, wirewound resistor forming the track on which the metal ball is free to roll. Ball and beam gyrostable platform multidof torsion qube servo 2.
Ball and beam is a common feedback control system application, due mostly to its ease in. System modeling and simulation provide useful and safe mechanisms for initial controller design. The acrome ball and beam control system trainer kit is designed for the study of the fundamentals of. Place the ball on the beam from 30cm to 30cm in steps of 5cm and record this ball position in your previously created table of values. The ball and beam module can also be paired with an additional remote sensor module, in which case the system operates in a masterslave mode where the ball on the beam will follow the reference ball position of the. Software for thorlabs beam profilers and m 2 measurement. Sep 03, 2011 use rootlocus to design a pd controller for the quanser ball and beam system using labview. It is a book intended for the intermediate to advanced labview programmer. It can then be programmed to make the ball describe a circular or any other shaped path around the plate. Labview offers a graphical programming approach that helps you visualize every aspect of your application, including hardware configuration, measurement data, and debugging.
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