Design of a ball balance control system

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Dr. Stumpf Péter Pál
Department of Automation and Applied Informatics

In my thesis I set the goal, to design and implement the balancing system of a ball, rolling

on a beam. The thesis describes the dynamical model of the system, the construction of

the apparatus, the design and implementation of the digital PD controller. Measurement

results and upgrade possibilities can be found at the end of the thesis. In my solution,

the ball position and the angle of the beam were detected with a web-camera using colour

based image processing, implemented in Matlab. The control signal is calculated also in

Matlab, then the data is sent to a PIC24FJ128GA010 16-bit microcontroller with serial

communication. The servo motor is driven with the PWM signal, generated by the microcontroller.

After the control parameters are tuned properly, the system works well. The

ball can settle in any defined point with a slight error. Changing the straight beam to an

ellipse shaped one yields to a more advanced problem. I made the dynamical model of the

system in the case of an ellipse shaped trajectory, then I simulated it in Matlab. I managed

to achieve stable controlling in simulation with a PID controller, but further investigations

are required.


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