Ball and beam system model the balls position is measured relative to the center of the beam with positive displacement to the right of. This paper presents a realtime application of ball and beam controlled by pid. Virtual and remote laboratory with the ball and plate system. This permits a masterslave configuration where the ball command is generated by the ss01 instead of through a program. The track is effectively a potentiometer, outputting a voltage thats proportional to the position of the ball. Labview simplifies scientific computation, process control, and test and measurement applications, and you can also use it for a wide variety of other programming applications. Switch to the block diagram and create a while loop located in the express. Now available to all makers professional and hobbyists.
The quanser ball and beam module, pictured in figure 1. Application of a labview for realtime control of ball and beam. Ball and beam components the ball and beam components are identified in section 2. Apprendre et enseigner labview tutoriel pdf extrait apprendre et enseigner labview tutoriel pdf du cours. The ballbalancer consists of a moving cart, on top of which a steel ball rolls. Modelling and control of ball and beam system using pid. Ball and beam realize control theory with acrome ball and beam. First, we will study the response of the system shown above when a proportional controller is used. A block diagram node executes when it receives all required inputs. This manual focuses on how to use system identification in the modelbased control design process. The first one, a fuzzy logic controller has been developed with the help of simulink and. Ball and beam using a camera and ni labview youtube.
Important information warranty the media on which you receive national instruments software are warranted not to fail to execute programming instructions, due to defects in materials and workmanship, for a period of 90 days from date of shipment, as evidenced. The custom vis are designed to work in labview versions 7. Many simple and present day control methods have been used to. Ballbeam demonsrates proportionalderivative pd control using a ball and beam simulation. A heart rate monitoring system that tracks your heart beat in bmp but i made a little difference by adding some labview visualisations. Using labview makes the application very useful for teaching and. It can then be programmed to make the ball describe a circular or any other shaped path around the plate. Mech262mech261 imran haider malik january 22, 2007. Parameters of ball and beam system symbol m r d g l jb r description mass of the ball radius of the ball lever arm offset gravitational acceleration length of the beam balls moment of inertia ball position coordinate beam angle coordinate servo gear angle values 0. Presentation on labview basics linkedin slideshare. In all your applications you would probably use both onedimensional arrays and twodimensional arrays.
In this tutorial i will show how easy it is to read and process analog input values. A lever arm is attached to the beam at one end and a servo gear at the other. Labview is interfaced to the ball and beam setup through a daq card. Ball and beam system dynamics university of adelaide. The ball and beam system consists of a long beam together with a ball rolling back and forth on top of the beam. The labview environment works on computers like windows, mac os x, and linux. On a windows computer, unzip the contents of the nidevsim. Experimental control design for ball and beam system by.
A vis can read out to a single sensor, emulate the frontface of commercial devices or control large integrated systems. Vi stands for virtual instrument but labview can be used for much more than virtual instrumentation. Experimental control design for ball and beam system published on jul 17, 20 the aim of the project is to control the position of the ball placed on a beam tilting on both sides using control. Ball and beam plant can be used for a wide range of control system design implementations from basic linear controllers to advance nonlinear methods. Working and manipulating with arrays is an important part in labview development.
Module 11 introduction to labview programming including. It is an interactive program development system which is specifically designed for people like scientists and engineers. Insert a transfer function block from the continuous library to the left of the ball and beam block, and connect its output to the input of the ball and beam block. Labview tm getting started with labview getting started with labview june 20 373427j01. The ball and beam apparatus shows the control problems of unstable systems, for example a rocket or missile during launch, which needs active control to prevent the missile going unstable and toppling over. System modeling and simulation provide useful and safe mechanisms for initial controller design. Iacsit international journal of engineering and technology, vol. Ballbeamsimulinkmodel ball beam pivot point gear ball tracking point lever arm figure6. This allows you to bring in any userdefined labview vi into your current program.
Srv02 ball and beam control laboratory student manual 1. We control the classic ball and beam system using a camera as feedback. The position of the ball is obtained by measuring the voltage at the steel rod. The ball and beam is a basic reference point system with high nonlinearity and unstable system in its dynamics. When a node executes, it produces output data and passes the data to the next node in the dataflow path. The system includes a ball, a beam, a and digital controllers.
The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. Ball and beam is a common feedback control system application, due mostly to its ease in. Labview tutorial and download and save the file to your preferred location. After you start labview, the contents of this directory are located on the functionsuser libraries palette. In our project, weve developed two controllers to stabilize the system. The following document presents the derivation of the dynamics of the ball and beam system shown in figure 1 below. Control of a ball and beam system using fuzzy logic. Pdf toolkit for labview carya automatisering national. Edit the transfer function block and change its numerator to 1 0. The ball and beam system constitutes a classic control system problem.
Now i have an actual physical system available that uses a potentiometer as the. Labview tm user manual labview user manual april 2003 edition part number 320999e01. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. The labview tutorial contains the information you need to get started with the laboratory virtual instrument engineering workbench labview software package.
Place the ball on the beam from 30cm to 30cm in steps of 5cm and record this ball position in your previously created table of values. The cart moves on a pair of tracks horizontally mounted on a heavy support fig. The derivation is based on a lagrangian formulation but could just as easily be formulated using a newtoneuler formulation. The x value will increase each time until it reaches 100. Measurements manual labview measurements manual july 2000 edition part number 322661a01. Change the label of the transfer function block to lead compensator. Labview is not just a programming environment, it offers much more than a coding platform. Pdf application of a labview for realtime control of ball. Traditionally used by scientists, engineers and other domain experts to build systems quickly. If you have changed the palette views from the default settings, some palette paths described in the course may not match your settings. Labview programming examples kansas state university. The labview concept ii labview is designed to build graphical user interfaces guis for laboratory instrumentation also called virtual instruments vis.
Labview to connect via internet to a pilot plant of the system. Using the proportionalderivative pd family, a cascade control system is designed to meet a set of specifications. Modeling, control and implementation of a ball and beam system control pd is designed and tested expe rimentally, w ith the addition of nonlinear compensation in some cases. Design and implementation of an embedded ballbeam controller. The serial number for the program is in a word document in this folder. The movement of data through the nodes determines the execution order of the vis and functions on the block diagram. Labview tm erste schritte mit labview erste schritte mit labview juni 2010 373427g01.
Application of a labview for realtime control of ball and. The aesthetic and mechanical design incorporated economical materials to make kits of this apparatus attractive and cost effective. Carya has developed the pdf toolkit so you can design report templates in ni labview software and populate these templates with data from labview applications be it text. The system includes a ball, a beam, a motor and several sensors. System model a simple depiction of the ball and beam balance system can be seen in figure 1. Pdf modeling and control of ball and beam system using. Application of a labview for realtime control of ball and beam system. Support worldwide technical support and product information. A ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam.
The control objective is to balance the ball on the top and, at the same time, place the cart in a. The srv02 ball and beam module can also be accompanied by a remote ball sensor called the ss01 module. Modelling and control of ball and beam system using pid controller abstract. Simply close all your labview windows, saving only your work, and exit labview. System consist of 2 digital servo motors hitec hs7955tg ultra torque, microcontroller arduino mega 2560, and 4 wire resistive touchscreen 7. Labview tm measurements manual labview measurements manual april 2003 edition part number 322661b01. The fundamental principles within this control system can be found in. Feedback instruments ball and plate control system is controlled by ni labview using a ni interface card and demonstrates a classic control problem of balancing a sphere on a flat surface and maintaining its position. Mathematical modeling, simulation and control of ball and. After you start labview, the ni devsim instrument driver is located. Labview system identification toolkit user manual national. Straightforward labview demonstrations are able to demonstrate the basic principles behind labview programming and act as a useful tutorial. An pid controller is used to control the position of the ball on the beam. The ball and beam system shown below in figure 1 has the control objective of placing the ball anywhere along the beam by varying the motor voltage.
Controlling the position of a ball on a beam is one of the classical problems of control theory. Jul 25, 2016 the ball and beam system constitutes a classic control system problem. Ball and plate control system, virtual lab, remote lab. Do not save any changes you may have made to the builtin vis were using such as hp34970a initialize. Design and implementation of ball and beam system using. The pdf toolkit for labview gives programmers the ability to generate professional reports in the standard portable document format pdf directly from labview applications. In this lesson, we will use ultimaserial activex to develop a data acquisition application with dataqs starter kit, including di194, di148u, di145, di14, di155, di158u and di710u. Labview tutorial manual full notes ebook free download pdf. The complete description of the dynamics of the ball rolling on the beam is quite complicated and for control. Additionally, further slightly out of date training exercises that were developed for labview 2012 might be useful, and can be found at u. Dataflow programming basics in ni labview national. Labview for realtime control of ball and beam system 4. This was a project for automated control systems course. This tutorial will describe basic interface elements of labview environment and how to make basic application for arduino.
There is linearquadratic lq regulator with kalman filter working as. Labview examples and tutorials popular tutorials autonomous timed movement tutorial move your robot autonomously based on different time intervals see more on autonomous movement basic motor control tutorial setup your roborio motor hardware and software learn to setup thefrc control system and frc robot project. Now, return to labview and rightclick in the block diagram to bring up the functions palette, and click select a vi. The ball and beam module consists of a steel rod in parallel with a nickelchromium wire wound resistor forming the track on which the metal ball is free to roll. The block diagram for this example with a controller and unity feedback of the balls position is shown below. Aug 16, 2014 introduction labview environment labview programming concept software constructs in labview 2.
Ball and beam is a common feedback control system application, due mostly to its ease in construction and its use in learning. Module 11 introduction to labview programming including arduino toolkit carey williamson 1. Control of a ball and beam system university of adelaide. Modelling and control of ball and beam system using. Using labview makes the application very useful for teaching and training students in data conversion domain.
The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design proportional integral derivative pid controller to control the ball position. Modeling and control of ball and beam system using model based and nonmodel based control approaches article pdf available in international journal. If you have vis that have made use of this subvi, you will need to replace it with the modified version. An apparatus of the classical ballonbeam problem was designed and constructed to be used as a pedagogical instrument in feedback courses. The ball and beam system can usually be found in most university control labs since it is relatively easy to build, model and control theoretically. The ball and beam module consists of a steel rod in parallel with a nickelchromium, wirewound resistor forming the track on which the metal ball is free to roll. Iacsit international journal of engineering and technology.
This course assumes you are using the default installation of labview. There is linearquadratic lq regulator with kalman filter working as linearquadratic estimator lqe. Balancing of a ball on beam using arduino as a pid controller. A ping pong ball sits on top of the beam rolling forwards and backwards according to the pitch of the beam. Support worldwide technical support and product information ni. Now i have an actual physical system available that uses a potentiometer as the feedback sensor. The demonstration below how labview can be used to quickly read five channels of data from a usb data acquisition device and write the measurements to a file.
It looks its moving without any relation to the ball position. Our ball and beam system provides practicing the automatic control theory on a closed loop experiment. The position of the ball is measured by a distance sensor mounted at the end of the beam. Ball and beam control system simulation with simulink. Ejemplo arduino pid discreto labview ball and beam youtube. These files can be found by mapping a network drive to \\poohbah\labview, and by running the. Average the two ball positions from the two polynomials in labview to get one final ball position measurement x this is the value well use for our ball position throughout the lab. The apparatus has a steel ball which is free to roll on two parallel tensioned wires. Dec 17, 2011 we control the classic ball and beam system using a camera as feedback.
Stepbystep on how to use activex in labview 9 windaq addons. Control of a ballbeam system networked control systemcombined feedforward and feedback controldual motor control background as a typical control system, the control of the ballbeam system is excellent in testing and evaluating different control methods. This was a school project, the assignment was to construct a ball and beam control system. Controlling the position of a ball on a beam is one of the conventional problems of the control theory. I have a plant model and a pid controller designed and working in matlab.
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