Ball on plate balancing system progress report for. The board needs to be as flat as possible i used a laminated mdf piece of a desk. A stewart platform is overkill for moving the ball around. Abstract the ball on plate system is the extension of. This system can move any heavier round element to any point of the surface to an accuracy of 2 mm. 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. Feb 9, 2018 ball on plate pid controller with arduino 22. This is my new touch screen arduinobased ball and plate system, the evolution of my old system shown here.
Optimal nonlinear model reference controller design for. The ball needs to be as near to perfectly round as possible i used a 1. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive touchscreen 7. 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. Arduino materia 101 is an opensource machine, from the design of the mechanics to the electronics and firmware, as all arduino products. The plate is actuated in the pitch and roll axes by two. 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. 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. 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.
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. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive. The mathematical model has been derived and the necessary parameters have been. Building and controlling a ball and plate system springerlink. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire. This robotic arm is a four degree of freedom robotic arm capable of picking and placing small objects. The major developments are the structural design and analysis, control system design and analysis, actuators, sensors, prototype assembly, circuitry and programming. 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. Other pins are necessary for powering and backlighting the lcd, so we need to connect them properly like the schematic. All the arduino 00xx versions are also available for download. Make sure to orient it as shown in the picture above. Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. The ball plate system is an unstable openloop and nonlinear system having 2 degrees of freedom dof.
Optimal nonlinear model reference controller design for ball. There is linearquadratic lq regulator with kalman filter working as linearquadratic estimator lqe. A ping pong ball sits on top of the beam rolling forwards and backwards according to the pitch of the beam. A pid algorithm measures the distance to the ball and raises or lowers a beam to try to get the ball to the center. How to make a diy pick and place robotic arm using arduino. This model studies a ball rolling on top of a beam. Levitating a ping pong ball using arduino and simulink related products. This product comes in a kit that can be assembled by a beginner in about 6 hours. The closed loop control which is used is a digital proportional integral derivative pid control. A pid controller is used to control the ball and a tv remote control is used to give commands e. 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. With mediumsized links, the robotic arm can fit perfectly on your tabletop, use the clip to attach it to your table. 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.
The arduino ide can be used on windows, linux both 32 and 64 bits, and mac os x. 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. When the ball starts moving, it will roll off the end of the plate if no control action is taken. 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 ball on plate system is figured out as the 2d evolution of the ball on beam system. This project aims to balance the ball on the plate at the centre or predefined coordinate by. A lever arm is attached to the beam at one end and a servo gear at the other. 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. Download the attach arduino code to your arduino mega. Hi im looking at designing and building a ball on a plate balance system. 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. First arduino project, self balancing ball on plate. It uses 2 digital servo motors, arduino due and a five wire touchscreen.
The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. Lq control of ball and plate system controlled by arduino mega 2560. Major components of the system are four servos, an arduino mega, battery, touch panel and ballandsocket joints. 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. Design and implementation of classical sliding mode. Mechatronic design of a ballonplate balancing system. A complete dynamic system investigation for the ballonplate system is presented in this paper. These are the data pins that tell the screen what character to display. 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 pid controller is used to control the ball and a tv remote control is used to.
With this, your playfield is ready to rollthe ball. 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. Hello, mech eng undergrad here who has never touched an arduino arduinoesque projects with very basic programming background. A complete dynamic system investigation for the ball on plate system is presented in this paper. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. 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. 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. These coordinates fit right on top of the ball during the catching phase in the game.
The identi cation chapter will show that it is not a very serious issue, as combined dynamics will negate this e ect. 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. We are actively working on specific licensing and pricing for schools, so stay tuned. 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. Download the previous version of the current release the classic arduino 1. It is fully compatible with other opensource design tools such as. The ball and plate system is used as nonlinear, uncertain, and mimo system to verify the effectiveness of the proposed controller. Adaptive embedded control for a ball and plate system.
Instructions sab3t pid loop educational tool hackaday. I use the opencv library to do the image processing. The ball on plate problem consists of a flat plate on which a ball needs to be positioned. The position of the ball is measured by a distance sensor mounted at the end of the beam. The pitch is controlled by a servo that is connected to an arduino. Hello everyone, this is my first post so let me know if i should do things differently for next time.
Aug 22, 2014 a stewart platform is overkill for moving the ball around. The new arduino create chrome app enables students. The ballandplate system is designed with the purpose to have key functionalities in mind. May 03, 2015 this is a home made ball on plate system. You may notice that there is a small corner where the boundary and the drain walls meet. An pid controller is used to control the position of the ball on the beam. 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. This paper presents a new design procedure of an optimal nonlinear controller using the model reference approach. In this project we learnt to deal with a liquid crystal display, known better by its abbreviation to lcd. Heres some info about my attempt at the famous ball and plate experiment using arduino and processing.
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. In this project, we will simulate how the crystal ball works. The ball balancing system is used for laboratorial purposes and also in automation systems. The device uses three servos attached to a rectangular surface with linkages that translate servo position into linear displacement of the table. Ball on plate balancing system progress report for ecse4962. Balancing of a ball on beam using arduino as a pid controller. 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. The ball is made of conductive material, for instance a steel ball bearing. 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. Jun 05, 2017 it uses 2 digital servo motors, arduino due and a five wire touchscreen. There is linearquadratic lq regulator with kalman filter working as.
Connect en on the screen to pin 11 on your arduino. Ball on plate pid controller with arduino 12 youtube. The assignment was to construct a ball and beam control system. This goal of this project is to effectively control a weighted ball on a flat surface.
Showcased is an improvised pidcontrolled ballonplate balancing system using. Aug 26, 2016 with all parameters indicating an arduino pin connected to the corresponding pin on the lcd subcircuit. The ball translational acceleration will be dependent on how the beam is angled. 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.
The main goal of the proposed design is to assure a desirable performance despite the presence of the coupling among control loops and uncertainty. We use the framwork for trakcing named opencv to follow the ball and give a response to the servos. Although the lcd is connected to various signals as it receives different type of information, there is already an available liquid crystal. The holes in the wood are sized so that the screws will self thread into it.
Sep 14, 2016 hi im looking at designing and building a ball on a plate balance system. The main goal of the proposed design is to assure a desirable performance despite the presence of the coupling. This is my new touch screen arduino based ball and plate system, the evolution of my old system shown here. Trying to fit wirescables leds and circuits under the base plate while there is a cake ontop is a recipe for disaster. Balancing ballsystemmodeler model wolfram research. This includes hardware design, sensor and actuator selection, system modeling, parameter identification, controller design and experimental testing. The stewart platform using 6 servos allows for updown of the whole platform for feeling. Because we only need rs, e, d4, d5, d6, and d7, there is no reason we need to connect d0d3. There are two pid controllers working separately for each axis. System consist of 2 digital servo motors hs422 eco, microcontroller arduino uno, and 4 wire resistive touchscreen 7. 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. 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. 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. Ball on plate pid controller with arduino 22 youtube.
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