The 2 dof ball balancer module is a visionbased control experiment designed to teach intermediate to advanced control concepts. This type of configuration will be used in this project. The laboratory for this course is in room 808 dreese laboratory. Simulink diagram used to calibrate camera using quarc. Steady state value is the final value of the system settles at after transient. Generate code using quarc and test the controller on quanser realtime hardware. The track is effectively a potentiometer, outputting a voltage thats proportional to the position of the ball. Otherwise, the simulink model cannot simulate the physics accurately and the ball appears to descend. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Ee 758 control laboratory ii electrical and computer.
Modelling and control of ball and beam system using. Movement of the beam will cause the ball rolling along the beam with an acceleration that is proportional to the angle of beam. Quanser the ball and beam system provided by quanser figure 1. This approach teaches how to reduce design iterations and develop control systems easily. The ball and beam module consists of a steel rod in parallel with a nickelchromium wire wound resistor forming the track on which the metal ball is free to roll. Help ball and beam simulink animation matlab answers. The system includes a ball, a beam, a motor and several sensors. In this case, the forces acting on m1 are the spring, the friction and the force applied by the engine. Persistent persistent r, c can be declared and used only in functions. Control of a ball and beam system university of adelaide. Enter the bb01 model gain found in prelab question 1 in the matlab. Pdf on the sliding mode control of a ball on a beam system. Quanser rotary pendulum workbook the rotary inverted pendulum model is shown in figure 2. The track is fitted with a linear transducer to measure the position of the ball, i.
The position of the ball is obtained by measuring the voltage at the steel rod. Update method is continuous so the chart employs continuoustime simulation to model the dynamics of the bouncing ball. Download file pdf quanser linear user manual quanser linear user manual eventually, you will unconditionally. Building a simulink model building a simulink model of a system consists of selecting the appropriate blocks and connecting them in a way that represents the mathematical models. Since the best way to learn a simulation tool is to work with it, this first tutorial will guide you through a simple example. Abstract this paper focuses on a quadrotor model, named as qballx4 developed by quanser. Experimental control design for ball and beam system by. Today, over 2,500 universities, colleges, research institutions and companies around the world use quanser solutions. The ball is placed on the beam and can roll freely along the entire length of the beam. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading. Here are some examples of how they apply them to enhance teaching experience of. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha.
Quanser 2006 present its commercial product named ball and beam module, shown in figure. The quanser ball and beam course material covers topics, such as. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as. Simulink basics simulink block library signal routing block library signal routing. On the sliding mode control of a ball on a beam system. The setup of the apparatus is different to the two mentioned before. Objectives the objective in this experiment is to design a controller for the ball and beam module such that the position of the ball accurately tracks a defined path. Simulink basics tutorial starting simulink basic elements building a system running simulations s imulink is a graphical extension to m atlab for the modeling and simulation of systems.
Ecen 2060 spring 2008 university of colorado boulder. In 2 dof ball balancer user manual 6, the image viewed by the camera has to be. All blocks were tested in matlab r2012b matlab version. Basic tutorial on the use of simulink overview simulink is a powerful system modeling tool which is included with the matlab software package. The ball and beam system is driven by the servomotor as shown in figure 9. Advance your skills with matlab and simulink courses on a wide range of topics. Simulink modeling tutorial from newtons law, you know that the sum of forces acting on a mass equals the mass times its acceleration. To open a new simulink session either type simulink or click the simulink button. It is assumed that the reader has already read through the beginner and intermediate matlab tutorials. The quanser ball and beam system uses this configuration for its commercial product as illustrated in figure 1 4.
Quanser partners with a wide range of academic institutions, companies, and professional organizations in developing our brand of soltuions. The advantage of this system is that relatively small b motor can be used due to the existing of gear box. Our customer service and sales team is happy to help with any questions or feedback you may have, contact sales. A lever arm is attached to the beam at one end and a servo gear at the other.
To complete the worksheet you are expected to understand and use the terms below. Quanser plants motor, flexible link, flexible joint, ball on a beam, inverted pendulum, inverted cube, 2dof helicopter, tank level. It allows the user to graphically model equations and analyze the results, so that systems can be better understood and. Mathematical modeling, simulation and control of ball and. Quanser 2 dof ball balancer workbook madeforscience gmbh. Quanser course material sample ball and beam rotary. Es205 getting started with simulink page 16 of 16 this concludes the simulink tutorial module. Simulink \extras toolbox, initial conditions can be specified. In simulink, systems are drawn on screen as block diagrams. Simulink tutorial introduction starting the program. Date saving a data store write a data store read a data store memory connect and selection of signals selector mux 1 hit ic crossing a goto a from demux demux bus selector etc. Scripts share local variables with functions they call and with the base workspace. Make sure the manual switch in simulink implementation diagram is connected. The quanser ball and beam module, pictured in figure 1, consists a track on which the metal ball is free to roll.
One of the main reasons it is widely used is due to the fact that it is a mathematically simple system to understand. 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. 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. This permits a masterslave configuration where the ball command is generated by the ss01 instead of through a program. Ball and beam control system simulation with simulink. Upon completion of the exercise, you should have have experience in the following. Quanser lab workstation support from simulink hardware. Global global speedoflight shared by functions, scripts, and base workspace. To begin your simulink session, start by clicking matlab icon matlab 7. The forces acting on m2 are the spring and the friction. The srv02 ball and beam module can also be accompanied by a remote ball sensor called the ss01 module. Every laboratory chapter in the instructors manual is organized into four sections. The bottom portion of the simulink diagram shows the same 2 nd order system in state space representation.
On the sliding mode control of a ball on a beam system article pdf available in nonlinear dynamics 591. The quadrotor simulation model includes both linear and nonlinear x, y, and z position, rollpitch and yaw dynamics. Introduce unstable closed loop system control concepts in the lab with the ball and beam module for the rotary servo srv02. Github justinpearsonucsbquanserinvertedpendulumlab. Simulink file that simulates the cascade ball position controller. Using simulink models with these lab workstations helps students perform upfront explorations before connecting with hardware.
Insert a transfer function block from the linear block library to the left of the ball and beam block, and connect its output to the input of the ball and beam block. Bring up your openloop ball and beam model window or download ours here delete the line which connects the step block to the ball and beam model block. This tutorial is very limited in scope, just to get you started with the tools we will be using to model and test various electrical or electromechanical energy systems in ecen2060. Before obtaining a step response, we must set the physical parameters. November 2000 fourth printing revised for simulink 4 release 12 july 2002 fifth printing revised for simulink 5 release april 2003 online only revised for simulink 5. The comprehensive matlab simulink and quarc primer walks you through the basic functions of matlab, simulink and quarc and helps you get started faster.