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A ball-on-beam project kit

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dc.contributor.advisor David L. Trumper. en_US Rosales, Evencio A. (Evencio Alex), 1982- en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US 2006-05-15T20:29:29Z 2006-05-15T20:29:29Z 2004 en_US 2004 en_US
dc.description Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004. en_US
dc.description Includes bibliographical references (leaf 40). en_US
dc.description.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. en_US
dc.description.statementofresponsibility by Evencio A. Rosales. en_US
dc.format.extent 40 leaves en_US
dc.format.extent 2141914 bytes
dc.format.extent 2141571 bytes
dc.format.mimetype application/pdf
dc.format.mimetype application/pdf
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.subject Mechanical Engineering. en_US
dc.title A ball-on-beam project kit en_US
dc.type Thesis en_US S.B. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 57571320 en_US

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