The main goal of the current diploma thesis is to design and build a so-called
ball and plate system. The ball and plate system is a complex mechatronic problem, and
to be able to achieve a successful solution for the control, many fields of the engineering
knowledge have to be used during the implementation process. The system behavior can
be investigated by changing the control algorithm parameters in a practical way.
The diploma work includes the mechanical design considerations of an own
mechanical structure, moreover an own printed circuit board design and manufacturing
process, and last but not least the control theory and the programming parts.
The system consists two DC servo motors, which are the actuators used for
tilting the plate. The position of the ball can be measured with a 4-wire resistive
touchscreen, which has analog outputs. The necessary touchscreen calibration
calculations are detailed as well. A so-called Arduino Uno microcontroller board is used
for A/D conversion and for interfacing with the servo motors, moreover it
communicates with the MATLAB interface through the serial port. The communication
process is synchronized with sending and receiving identical characters between the
Arduino and MATLAB. The PD algorithm and logic run on MATLAB, moreover it is
used for DAQ (data acquisition). The dynamic equation of the rolling ball on an incline
is derived, moreover the calculations regarding to the transfer functions of the servo
motors and the ball and plate system can be found in this thesis.
In the diploma thesis there can be found two common simulation tasks for
testing the control algorithm: positioning to the central point and following a
rectangular shape. The effect of the P and D term are detailed in the measurements and
At the end of the thesis the results are collected, the conclusions are drawn.
The diploma work is considered as a success, some suggestions are given for further