2026-09-19T15:36:51Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/327802022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
David L. Trumper.
Rosales, Evencio A. (Evencio Alex), 1982-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2006-05-15T20:29:29Z
2006-05-15T20:29:29Z
2004
2004
http://hdl.handle.net/1721.1/32780
57571320
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
Includes bibliographical references (leaf 40).
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.
by Evencio A. Rosales.
S.B.
40 leaves
2141914 bytes
2141571 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
A ball-on-beam project kit
Thesis
application/pdf
false
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="b7721956-9efd-4a53-8e92-fed542b5879c">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>eng</Language>
<Title>A ball-on-beam project kit</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2004</PublicationDate>
<Authors>
<Author>
<DisplayName>Rosales, Evencio A. (Evencio Alex), 1982-</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Mechanical Engineering.</Keyword>
<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.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>