A ball-on-beam project kit

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2004

Author dc:creator

• Rosales, Evencio A. (Evencio Alex), 1982-

Advisor dc:contributor.advisor

• David L. Trumper.

• Mechanical Engineering.

Statement dc:rights

• 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.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/32780

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/32780