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Ball and Beam

ACROME Ball and Beam System is ideal to introduce students to the fundamental and intermediate principles of controls. Let’s teach automatic control with Ball and Beam!

OVERVIEW

Apply control theory in real-life with ACROME Ball and Beam! The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. The long beam tilted by a servo. Our Ball and Beam System provides practicing the automatic control theory on a closed loop experiment. Controlling the position of a ball on a beam is one of the classical problems of control theory. Ball and Beam System can be used for a wide range of control system design implementations from basic linear controllers to advanced nonlinear methods. Students are able to understand system design approaches with Ball and Beam’s learn-by-doing method. With the help of the courseware, they can distinguish effects of linearizations, assumptions and modeling errors due to the differences between simulations and real world experiments.

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SOFTWARE

CONTROLLER

PRODUCT PHOTOS

SPECIFICATIONS

Payload

260 gr.

Workspace

± 10° in Pitch

Position Repeatability

± 1mm.

Angular Sensitivity

0.36°

Max. Speed

0.2 sec/60°

Height (min-max) / Weight

130mm. - 150mm. (± 2mm.) / 2,750 gr.

Platform Dimensions (Length * Width)

570mm. * 70mm. (± 2mm.)

Base Dimensions (Length * Width)

650mm. x 200mm. (± 2mm.)

Power Requirement

12 V - 2,5 A

Ball Diameter

40mm. (± 1mm.)

Motor Type

RC Servomotors with Built-In Encoder

Feedback Sensors

Linear Potentiometer

FEATURES

Assembled and ready to control plant with the integrated power unit
Implementation of advanced digital control techniques
Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™
Actuating the table by RC servo motor, which is familiar to students
Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems
Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
Fully compatible with MATLAB®/Simulink® and LabVIEW™
Actuating the table by RC servo motor, which is familiar to students
Enables students to create their own real-time algorithms

FAQs

What is Ball and Beam?
The Ball and Beam experiment system is a classical control system, used for teaching the basics of control systems.
What are Ball and Beams used for?
The Ball and Beam is used for trying different algorithms to control the ball's position in horizontal direction, in a safe and repeatable manner.
What is the feedback sensor type?
Analogue potentiometer is used to determine the position of the ball. The servo motor has also an optional potentiometer to measure the position of the servo motor's arm.
Can I use the product for trying different controller types other than PID?
Yes you can. There are other simple controller types available such as On/Off (ie. bang/bang), P, PD. The Product is delivered as an open-source system and users are free to try their own different control algorithms.
Does the product comes with a controller and software/courseware?
Product comes with the controller, software and a companion courseware with example source codes.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.

CURRICULUM

COMPONENTS OF BALL AND BEAM SYSTEM
RC Servo Motor
Potentiometer Sensor
Controller
Acrome Power Distribution BoxMechanics of the System

 

PERFORMANCE MEASURES
Time Domain Characteristics
Steady State Response and Steady State Error
FUNDAMENTALS OF PWM
PWM Signaling Theory
Generating PWM Signals Driving
RC Servos with PWM Signals

 

CONTROL SYSTEM DESIGN
Design of Linear Controllers
PID controller and Fuzzy Logic Controller
Comparing the Simulation and Real System Responses for Different Controllers
SYSTEM MODELING
Lagrangian Method
Newton’s Law of Motion
Modeling of Actuator
Obtaining Transfer Function

 

CONTROL SYSTEM VERIFICATION
Frequency response analysis
Experimental Bode Diagram
Cut-Off Frequency Determination
FEEDBACK IN CONTROL SYSTEMS
Reading Ball Position from Touch Sensor
Derivative Filtering

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