Hello everyone, this is my first post so let me know if i should do things differently for next time. The position of the ball is measured by a distance sensor mounted at the end of the beam. This paper presents a new design procedure of an optimal nonlinear controller using the model reference approach. Update 12feb2012 spent an evening thinking about it, realize the original idea of calculation ik isnt perfect for my type of hexapod robot, which each leg are in a different frame frame axis system, but i have always.
It is fully compatible with other opensource design tools such as. The new arduino create chrome app enables students. First arduino project, self balancing ball on plate. This includes hardware design, sensor and actuator selection, system modeling, parameter identification, controller design and experimental testing.
The ball translational acceleration will be dependent on how the beam is angled. I use the opencv library to do the image processing. With mediumsized links, the robotic arm can fit perfectly on your tabletop, use the clip to attach it to your table. Connect en on the screen to pin 11 on your arduino. The ball balancing system is used for laboratorial purposes and also in automation systems. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire. Balancing ballsystemmodeler model wolfram research. Among those, the ball and plate system consists in controlling the angular position of a plate with two degrees of freedom pitchroll in order to keep a ball always in the center of the plate in the presence of disturbances. Make sure to orient it as shown in the picture above. Jun 05, 2017 it uses 2 digital servo motors, arduino due and a five wire touchscreen. As the ball rolls sideways, this will vary the total resistance of the system, so the overall resistance will give the precise indication where the ball is. As far as the calculations go, i used pid control to adjust the angle of the board according to the position and velocity of the ball, as determined by. Jan 21, 2012 update 12feb2012 spent an evening thinking about it, realize the original idea of calculation ik isnt perfect for my type of hexapod robot, which each leg are in a different frame frame axis system, but i have always been assuming they are in the same frame as the center of body. We are actively working on specific licensing and pricing for schools, so stay tuned.
Although this adds a very unique element, it means that the ball on top must be quite heavy to be reliably tracked, and its creator is considering. The pitch is controlled by a servo that is connected to an arduino. The ball is made of conductive material, for instance a steel ball bearing. Instructions sab3t pid loop educational tool hackaday. Balancing of a ball on beam using arduino as a pid controller. The ball needs to be as near to perfectly round as possible i used a 1. The assignment was to construct a ball and beam control system. The arduino due microcontroller uses a microusb connection for both power and serial communication each servo runs off of 5v power, and is position controlled by a pwm pin on the due the resistive touchscreen uses 4 wires read by. Download the attach arduino code to your arduino mega.
Design and implementation of classical sliding mode. May 03, 2015 this is a home made ball on plate system. Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. It uses 2 digital servo motors, arduino due and a five wire touchscreen.
The main goal of the proposed design is to assure a desirable performance despite the presence of the coupling. Heres some info about my attempt at the famous ball and plate experiment using arduino and processing. These coordinates fit right on top of the ball during the catching phase in the game. I have an array of 10 leds and what i want it to do is light up one at a time, until it gets to the last led location 9 on my array. The ballandplate system is designed with the purpose to have key functionalities in mind.
This system can move any heavier round element to any point of the surface to an accuracy of 2 mm. In this example, two different control schemes are studied, the pid regulator and the lq regulator, which can be used to control the position of the ball along the beam, using the beam angle as input. The arduino due microcontroller uses a microusb connection for both power and serial communication each servo runs off of 5v power, and is position controlled by a pwm pin on the due the resistive touchscreen uses 4 wires read by analog ports of the due to determine ball position. With this, your playfield is ready to rollthe ball. An pid controller is used to control the position of the ball on the beam. Ball on plate balancing system progress report for ecse4962. The board needs to be as flat as possible i used a laminated mdf piece of a desk. There are two pid controllers working separately for each axis.
Major components of the system are four servos, an arduino mega, battery, touch panel and ballandsocket joints. In this project, we will simulate how the crystal ball works. This is my new touch screen arduinobased ball and plate system, the evolution of my old system shown here. With this framwork we filter the colors to use only the green one and with that we also decreased the noise the camara keep sending. Although the lcd is connected to various signals as it receives different type of information, there is already an available liquid crystal. All the arduino 00xx versions are also available for download. Arduino materia 101 is an opensource machine, from the design of the mechanics to the electronics and firmware, as all arduino products. Sep 14, 2016 hi im looking at designing and building a ball on a plate balance system.
This project aims to balance the ball on the plate at the centre or predefined coordinate by. The device uses three servos attached to a rectangular surface with linkages that translate servo position into linear displacement of the table. The stewart platform using 6 servos allows for updown of the whole platform for feeling. The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. This is my new touch screen arduino based ball and plate system, the evolution of my old system shown here. There is linearquadratic lq regulator with kalman filter working as linearquadratic estimator lqe. Abstract the ball on plate system is the extension of. The ball and plate system is used as nonlinear, uncertain, and mimo system to verify the effectiveness of the proposed controller. In this project we learnt to deal with a liquid crystal display, known better by its abbreviation to lcd.
The aim of this project will be to create a ballplate system using a resistive touch sensor to allow the movement of a ball by means of automatic control. Aug 26, 2016 with all parameters indicating an arduino pin connected to the corresponding pin on the lcd subcircuit. This product comes in a kit that can be assembled by a beginner in about 6 hours. Showcased is an improvised pidcontrolled ballonplate balancing system using. The ball on plate problem consists of a flat plate on which a ball needs to be positioned. A pid algorithm measures the distance to the ball and raises or lowers a beam to try to get the ball to the center.
Hello, mech eng undergrad here who has never touched an arduino arduinoesque projects with very basic programming background. Ball on plate pid controller with arduino 12 youtube. 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. Aug 22, 2014 a stewart platform is overkill for moving the ball around. A ball on plate system is the two dimension extension to the ball on beam system. The ball on plate system is figured out as the 2d evolution of the ball on beam system. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive.
This model studies a ball rolling on top of a beam. This goal of this project is to effectively control a weighted ball on a flat surface. A complete dynamic system investigation for the ballonplate system is presented in this paper. The arduino ide can be used on windows, linux both 32 and 64 bits, and mac os x. The identi cation chapter will show that it is not a very serious issue, as combined dynamics will negate this e ect. You may notice that there is a small corner where the boundary and the drain walls meet. Building and controlling a ball and plate system springerlink. I was thinking of a project for over summer, and was wanting to seek advice on where to start what to buy what to pursue.
When the ball starts moving, it will roll off the end of the plate if no control action is taken. The controller used here is arduino, the position sensor is not a camera anymore, but a resistive touch screen sensing the ball on its surface. Adaptive embedded control for a ball and plate system. Optimal nonlinear model reference controller design for ball. The ball plate system is an unstable openloop and nonlinear system having 2 degrees of freedom dof. Hi im looking at designing and building a ball on a plate balance system. How to make a diy pick and place robotic arm using arduino. This place may surely corner your ball, thus we will add a small piece of acrylic sheet that will help the ball smotthly roll to the drain. The closed loop control which is used is a digital proportional integral derivative pid control.
This robotic arm is a four degree of freedom robotic arm capable of picking and placing small objects. We use the framwork for trakcing named opencv to follow the ball and give a response to the servos. Feb 9, 2018 ball on plate pid controller with arduino 22. A pid controller is used to control the ball and a tv remote control is used to. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive touchscreen 7. Lq control of ball and plate system controlled by arduino mega 2560. A pid controller is used to control the ball and a tv remote control is used to give commands e. Mechatronic design of a ballonplate balancing system.
The output ball position is compared to the setpoint the position where we want the ball to be a pid algorithm on the arduino is used to compute the angle of the servo motor based on the difference between the output ball position and the setpoint the error. The holes in the wood are sized so that the screws will self thread into it. Because we only need rs, e, d4, d5, d6, and d7, there is no reason we need to connect d0d3. In this example, two different control schemes are studied, the pid regulator and the lq regulator, which can be used to control the position of the ball. A stewart platform is overkill for moving the ball around. The ball and plate system will be used as an illustration to understand the basic concepts and principles of control system and algorithm for beginner.
A ping pong ball sits on top of the beam rolling forwards and backwards according to the pitch of the beam. Trying to fit wirescables leds and circuits under the base plate while there is a cake ontop is a recipe for disaster. Jul 02, 2014 the output ball position is compared to the setpoint the position where we want the ball to be a pid algorithm on the arduino is used to compute the angle of the servo motor based on the difference between the output ball position and the setpoint the error. Ball on plate balancing system progress report for. There is linearquadratic lq regulator with kalman filter working as. The problem of the ball on beam becomes interesting because when the ball. Arduino digital pin 2 to lcd d7, arduino digital pin 3 to lcd d6, arduino digital pin 4 to lcd d5, arduino digital pin 5 to lcd d4. A lever arm is attached to the beam at one end and a servo gear at the other. An arduino due controls the ball using a pid loop, and the balls position is sensed not by an external camera, but by the top plate, which is actually made out of a resistive touchscreen. Ball on plate pid controller with arduino 22 youtube.
It is important to create the base plate with all of the electronics fitted and in working order before you put the cake onto it. The ballonplate systems which can be found in literature vary in size, mechanical principles for the plate tilting and the used sensors for measuring plate angles and the ball position. The major developments are the structural design and analysis, control system design and analysis, actuators, sensors, prototype assembly, circuitry and programming. Optimal nonlinear model reference controller design for. Among those, the ballandplate system consists in controlling the angular position of a plate with two degrees of freedom pitchroll in order to keep a ball always in the center of the plate in the presence of disturbances. Ball positioning is only achieved through unstable equilibrium where any small changes in the plate angle will result in the continual acceleration of the b.
Other pins are necessary for powering and backlighting the lcd, so we need to connect them properly like the schematic. The main goal of the proposed design is to assure a desirable performance despite the presence of the coupling among control loops and uncertainty. System consist of 2 digital servo motors hs422 eco, microcontroller arduino uno, and 4 wire resistive touchscreen 7. Levitating a ping pong ball using arduino and simulink related products. The system should have accuracy of ball on the screen, as well as the ability to move the ball from one end of the plate to the other in less than 2 seconds. A complete dynamic system investigation for the ball on plate system is presented in this paper. The plate is actuated in the pitch and roll axes by two. The aim of this project will be to create a ball plate system using a resistive touch sensor to allow the movement of a ball by means of automatic control.
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