A ball-on-beam project kit
Name
57571320-MIT.pdf
Description
Full printable version
Size
2.04 MB
Format
Adobe PDF
Checksum (MD5)
513f33206bed6795658ca8a09e307efb
Author(s)
Rosales, Evencio A. (Evencio Alex), 1982-
Advisor(s)
David L. Trumper.
Date Issued
2004
Publisher
Massachusetts Institute of Technology
Abstract
An apparatus of the classical ball-on-beam problem was designed and constructed to be used as a pedagogical instrument in feedback courses. The aesthetic and mechanical design incorporated economical materials to make kits of this apparatus attractive and cost effective. This thesis describes the design of the apparatus and the design of the two control loops to control the angle of the motor and the position of the ball along the beam. A lead compensator was used in each loop and an additional integrator was used in the motor loop to ensure the beam level when supporting the ball. The motor closed loop was designed for a bandwidth of 25 Hz and the ball loop was designed for 1 Hz. The closed loop control was implemented using a Matlab Simulink model and a dSPACE digital signal processor controller board. The feedback sensor of the motor angle was an encoder mounted to the back of the motor, and the sensor for the ball position was a linear potentiometer resistive element. After multiple iterations and debugging of the ball position sensor, the ball-on-beam system performed successfully, responding well to step commands and disturbances.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
Includes bibliographical references (leaf 40).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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