Ball and Beam Control System

Created Mon, 07 Apr 2014 16:50:26 +0000 by nosleep

nosleep

Mon, 07 Apr 2014 16:50:26 +0000

Hello!

I am currently developing a ball and beam control system for a competition, and I would like to show you what I've done so far. Also, I will keep this thread updated with the progress until I finish my project.

Here is the list of materials:

1. Plexiglas beam (1 meter – cut with the aid of a CNC machine into a beam with 2 grooves on the bottom and 4 walls to keep the ball from rolling off; 2 of them go the length of the beam, 2 of them go the width of the beam) – recycled from a broken protection window
2. 6 pieces of Iron – all of them plastic-covered in order to be protected from rust and to trump their conductivity a. 1 for the base of the rig b. 2 in order to provide the support for the beam c. 2 to provide support of the motor d. 1 as support and stabilizer for the pot
3. 3-12V DC motor (shipped with motor support), 6mm (diameter) shaft
4. 2 ball bearings
5. 2 safety rings, to prevent slipping
6. Aluminum plate a. Supports the middle of the beam, spins it, as the motor shaft was not long enough; The aluminum plate and the motor shaft are connected via an aluminum cylinder with the use of 2 grub screws
7. One rotation logarithmic pot a. Used as angular (resistive) sensor for the motor b. Connected to the shaft via an aluminum cylinder-grub screw ensemble
8. Rubber carpet, glued to the base, to prevent slipping
9. Resistive Wire (with 47 ohm resistor on one end), Copper wire and steel ball, as position sensor for the ball (voltage divider)
10. Steel Ball – controlled element
11. PmodCLS - Character LCD with serial interface – for the display of the ball’s position, output variables, and other useful information
12. PmodHB3 - H-bridge w/ feedback inputs
13. chipKit uC32 Prototyping platform - calculates the control signal needed for the system, communicates with the motor and sensors

Also, I made this video. Please excuse the weird voice, 'tis what mother nature blessed me with :lol: : https://www.youtube.com/watch?v=0Zrlcm7_gr4

Have a nice day!

skorpyon1992

Tue, 08 Apr 2014 15:59:17 +0000

I'm really curious about the controller you will use, as computing all of the parameters in real-time is pretty hard, and it's important to perform all of these tasks fast for the ball to reach the balance position. Hope to see some updates around here! Good luck!

skorpyon1992

Tue, 08 Apr 2014 16:00:23 +0000

I'm really curious about the controller you will use, as computing all of the parameters in real-time is pretty hard, and it's important to perform all of these tasks fast for the ball to reach the balance position Hope to see some updates around here! Good luck!