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Ball and beam: modeling and analysis / Zarina Che Amin

The condition of feedback linearization of a non-linear system had been a classical problem in control theory especially regarding the ball and beam equipment. Therefore many control engineers have tried to solve this problem using different approaches. This project explained the important of stabil...

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Main Author: Che Amin, Zarina
Format: Thesis
Language:English
Published: 1997
Online Access:https://ir.uitm.edu.my/id/eprint/103961/1/103961.pdf
https://ir.uitm.edu.my/id/eprint/103961/
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spelling my.uitm.ir.1039612024-09-30T06:56:50Z https://ir.uitm.edu.my/id/eprint/103961/ Ball and beam: modeling and analysis / Zarina Che Amin Che Amin, Zarina The condition of feedback linearization of a non-linear system had been a classical problem in control theory especially regarding the ball and beam equipment. Therefore many control engineers have tried to solve this problem using different approaches. This project explained the important of stability concept. The objective of this project is to position a stainless steel ball at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input. The mathematical model of the equipment has been derived based on the concept of rotating mechanical system and free body (ball) rolling down a plane. This equipment is interfaced to a computer and the controller is written in C. The controller designed is a two loop controller to improve the stability of the system. The inner loop (slave loop) ensures that the servo angle 9 tracks a desired angle, 0d and the outer loop (master loop) controls the ball position. The important aspect of this design approach is that the inner loop response must be faster than the outer loop. This is done by implementing Proportional plus Derivative (PD) controller for the inner loop and Proportional plus Integral plus Derivative (PID) controller for the outer loop. The response of the output can be obtained using Matlab. 1997 Thesis NonPeerReviewed text en https://ir.uitm.edu.my/id/eprint/103961/1/103961.pdf Ball and beam: modeling and analysis / Zarina Che Amin. (1997) Degree thesis, thesis, Universiti Teknologi MARA (UiTM). <http://terminalib.uitm.edu.my/103961.pdf>
institution Universiti Teknologi Mara
building Tun Abdul Razak Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Mara
content_source UiTM Institutional Repository
url_provider http://ir.uitm.edu.my/
language English
description The condition of feedback linearization of a non-linear system had been a classical problem in control theory especially regarding the ball and beam equipment. Therefore many control engineers have tried to solve this problem using different approaches. This project explained the important of stability concept. The objective of this project is to position a stainless steel ball at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input. The mathematical model of the equipment has been derived based on the concept of rotating mechanical system and free body (ball) rolling down a plane. This equipment is interfaced to a computer and the controller is written in C. The controller designed is a two loop controller to improve the stability of the system. The inner loop (slave loop) ensures that the servo angle 9 tracks a desired angle, 0d and the outer loop (master loop) controls the ball position. The important aspect of this design approach is that the inner loop response must be faster than the outer loop. This is done by implementing Proportional plus Derivative (PD) controller for the inner loop and Proportional plus Integral plus Derivative (PID) controller for the outer loop. The response of the output can be obtained using Matlab.
format Thesis
author Che Amin, Zarina
spellingShingle Che Amin, Zarina
Ball and beam: modeling and analysis / Zarina Che Amin
author_facet Che Amin, Zarina
author_sort Che Amin, Zarina
title Ball and beam: modeling and analysis / Zarina Che Amin
title_short Ball and beam: modeling and analysis / Zarina Che Amin
title_full Ball and beam: modeling and analysis / Zarina Che Amin
title_fullStr Ball and beam: modeling and analysis / Zarina Che Amin
title_full_unstemmed Ball and beam: modeling and analysis / Zarina Che Amin
title_sort ball and beam: modeling and analysis / zarina che amin
publishDate 1997
url https://ir.uitm.edu.my/id/eprint/103961/1/103961.pdf
https://ir.uitm.edu.my/id/eprint/103961/
_version_ 1811690147752706048
score 13.211869

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