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Ball on beam

The document outlines a project on a ball and beam system, detailing its components, mathematical modeling, and applications in various industries. It discusses the system's dynamics, transfer functions, state space representation, and stability analysis using the Routh-Hurwitz method. The project involves a team of members and emphasizes the control mechanisms to achieve desired positions for the ball on the beam.

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moaazh203
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6 views14 pages

Ball on beam

The document outlines a project on a ball and beam system, detailing its components, mathematical modeling, and applications in various industries. It discusses the system's dynamics, transfer functions, state space representation, and stability analysis using the Routh-Hurwitz method. The project involves a team of members and emphasizes the control mechanisms to achieve desired positions for the ball on the beam.

Uploaded by

moaazh203
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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BALL ON

BEAM
Project
‫‪BN‬‬ ‫‪Name‬‬

‫‪2‬‬
‫‪Team‬‬ ‫‪1‬‬ ‫ابراهيم احمد سالم احمد‬

‫‪members‬‬
‫‪2‬‬ ‫احمد ايهاب حامد‬

‫‪5‬‬ ‫احمد حسام سيد عباس امام‬

‫‪6‬‬ ‫احمد حسانين حسن حسانين الدخاخني‬

‫‪7‬‬ ‫احمد خالد فتحي احمد‬

‫‪15‬‬ ‫اسالم ايهاب عبد المنعم احمد‬

‫‪16‬‬ ‫اسالم حمدي عبد الحليم محمد‬

‫‪19‬‬ ‫الحسيني سمير عبد الرازق‬

‫‪29‬‬ ‫جمال محمد جمال سعد الدين‬

‫‪30‬‬ ‫جورج ايمن محروس‬

‫‪88‬‬ ‫محمد رضا علي عبد المقصود‬

‫‪110‬‬ ‫معاذ هشام حلمي‬


1)
3
Table of
2) content
3)

4)

5)

6)

7)
: Abstract
4
-

The ball and beam system can usually be •


found in most control labs The system
includes a ball, a beam, a motor and
several sensors. The basic idea is to use
the torque generated from motor to
control the position of the ball on the
beam. The ball rolls on the beam freely.By
employing linear sensing techniques, the
information from the sensor can be taken
and compared with desired position values.
The difference can be feedback into the
controller, and then into the motor in order
to gain the desired position. The
mathematical model for this system is
. nonlinear
These types of systems have wide range of industrial
applications including:
5

Applications 1. horizontally stabilizing an airplane during landing

2. turbulent airflow

3. passenger's platform balancing for comfort in luxury cars

4. control of exothermic chemical process where addition of


heat accelerates the process addition of heat accelerates the
process

5. control of rocket and aircraft vertical take-off

6. liquid carrying tankers on the roads where liquid be haves


like a ball on beam
6
Mathematical model ( T.F & state space )
For electrical system in servomotor: •
- In Time Domain
Ea(t) = iaRa + La dia/dt + Vb(t) → By applying KVL

- By Taking Laplace Transformation (S Domain):


Ea(s) = Ra Ia(s) + La S Ia(s) + Vb(s) = Ia(s) [Ra + La S] + Vb(s)

- The back electromotive force (back-emf),


Vb is a result of the rotor spinning at right angles in a magnetic field. •
Vb (s) = Kb*w(s) = Kb*S θm(s) → At constant Flux
( where: Kb is back-emf constant )

Dc servo motor circuit


7
Mathematical model ( T.F & state space )

For Mechanical system in servomotor: •

The torque equation can be written by inspection by summing the forces acting at the shaft:
- In Time Domain
Tm(t) = TL(t) + Jm θ.. + Bm θ.
- By Taking Laplace Transformation (S Domain): •
Tm(s) = TL(s) + Jm S θ.+ Bm θ. →→ [θ. = W(s) ]
Tm(s) = TL(s) + Jm S W(s) + Bm W(s)
Tm(s) = TL(s) + W(s) [ Jm S + Bm ]

- Torque is proportional to the armature current.


The constant of proportionality is called the torque constant and is given the symbol (Km) •
Tm(s) = Km * Ia(s) The mechanical system attached to the motor
System Dynamic
__________________
8
Symbol parameter value For this problem, we will assume
M Mass of the ball 0.048 KG that the ball rolls without slipping
R Radius of the ball 0.025 m and friction between the beam and
D Lever arm offset 0.025 m ball is negligible. The constants
G gravitational 9.8 (m/s^2) and variables for this example are
acceleration defined as follows:
L length of the beam 0.3 m
J ball's moment of 1.2*10^-5
inertia kg.m^2
r ball position ----
coordinate
Alpha beam angle ----
coordinate
Theta servo gear angle ----
9

1.Applying the Newton’s 3.The equation which relates the


second law for forces beam angle to the angle of the
along the inclination, we gear can be approximated as linear
have by the equation below:

2.Linearization of this equation


about the beam angle, alpha is 4.Substituting this
very small, gives us the following into the previous
linear approximation of the equation, we get:
system:
10
1.Transfer Function
Taking the Laplace • Then we find the transfer function
transform of the equation from the gear angle [theta(s)] to the
above, the following ball position [R(s)]:
equation is found:

NOTE: When taking the Laplace


transform to find the transfer function
initial conditions are assumed to be
zero.

Closed loop block diagram of Ball on Beam


11
2. State Space
r1 = r r.1 = r.

r2 = r.1 r.2 = r..


12
Steady-state error
: is the difference between the input and the output
for a prescribed test input as t tends to ∞

Where:
E(s) is the steady state error
R(s) is the input
G(s) is open loop transfer function Then

Then

The input used in our system is step where r(t)=5V


Then R(s) = 5/S
And T.F = G(s) = 0.583/S²
13
stability using Routh-Hurwitz

The method requires two steps:


1.Generate a data table called a Routh table.
2.Interpret the Routh table to tell how many closed-loop system poles are in the LHP and in the RHP.
Routh’s Stability Condition:
• If the closed-loop transfer function has all poles in the left half of the s-plane, the system is stable. Thus, a system is stable if
there are no sign changes in the first column of the Routh table.
Open loop transfer function :
G(S) =0.583/s^2
Block diagram with unity feedback :
14
Block diagram without feedback

S^2 1 0583
Closed loop transfer function:
S^1 0/2 0/0

S^0 0.583 0

Ge(s)= G(s) /1+G(s)= 0.583/S^2+0.583


The auxiliary polynomial, U(s), can be
obtain as;
P(s)= S^2+0.583
Next we differeniate the polynomial with respect to S
dP(s)/ds= 2S+0
SYSTEM IS STABLE

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