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Ball Balancing Table

ACROME Ball Balancing Table is an innovative ball plate experiment system suitable for controls and mechatronics education and advanced research topics.

OVERVIEW

Ball Balancing Table, with its easily accessible and user-friendly components, is a hands-on experiment, closing the gap between real industrial systems and DIY-approach. Students can understand the effects of different controller types on the system and easily cover controller design concepts with control system experiments. The ready-to-use courseware and a wide range of software options give the maximum flexibility to learn the essential aspects of control theory by experimenting. The system is also suitable for graduate studies for designing advanced controller types such as robust control, adaptive control, and so on. Open-source software makes it possible that students and researchers can modify and test their own developed algorithms.

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SOFTWARE

CONTROLLER

PRODUCT PHOTOS

SPECIFICATIONS

Payload

260 gr.

Workspace

± 7° in Pitch & Roll

Position Repeatability

± 1mm.

Angular Sensitivity

0.36°

Max. Speed

90 °/second

Height (min-max) / Weight

130mm. - 150mm. (± 2mm.) / 4,400 gr.

Platform Dimensions (Length * Width)

375mm. * 310mm. (± 2mm.)

Base Dimensions (Length * Width)

410mm. x 350mm. (± 2mm.)

Power Requirement

12 V - 5 A

Ball Diameter

40mm. (± 1mm.)

Motor Type

RC Servomotors with Built-In Encoder

Feedback Sensors

Resistive Touch Sensor (1200px * 800px)

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™, Altair Activate®
Rectangular and circular path options are integrated into the software
Digital twin available in Altair software.
Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
Fully compatible with MATLAB®/Simulink®, LabVIEW™ and Altair Activate®
Ball position feedback using a high precision touch surface (camera-based feedback optional) Actuating the table by RC servo motors, which are familiar to students
Enables students to create their own real-time algorithms. Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems

FAQs

What is Ball Balancing Table?
The Ball Balancing Table system is an automatic control system, used for teaching control systems and various control algorithms.
What is a Ball Balancing Table used for?
The Ball Balancing Table is used for trying different algorithms to control the ball's position in 2 different horizontal directions, in a safe and repeatable manner.
What is the feedback sensor type?
An analogue touch sensor 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. Product can also optionally provided with an Inertial Measurement (IMU) sensor to measure the tilt angles of the moving plate.
Is there a non-academic version for other usage purposes?
Yes there is a maker version based on Python software. Custom software options also exists for different test scenarios.
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 Balancing Table
RC Servo Motors
Touch 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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