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Ball & Beam (Amira BW500)
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The laboratory experimental setup "Ball and Beam" contains the technical realization of a nonlinear unstable system. The control goal is to stabilize the ball in a desired position on the beam.
The nonlinear plant is represented by a ball laying on a beam with an adjustable angle. The ball can roll upon the beam within a distance of 1m. By a toothed belt, a toothed wheel and a clutch mounted on the shaft of a DC-motor the beam can be driven such that the ball is stabilized at a preassigned position. The user's goal is to design a digital controller that will accomplish the stabilization. Based on measurements, the controller generates a suitable signal, which controls the DC-motor by an electronic servo amplifier. The measurements are the angle of the beam obtained by an incremental encoder and the ball position obtained by a CCD-camera. The system is ready to operate after connecting to the electronic actuator. All the moving parts are covered by transparent plexiglass.
Using the actuator panel, one is able to perform both automatic and manual control. In the former case, the signals are connected through the NI AD/DA device to a PC. In the latter case, manual beam-speed control potentiometer is to be used.
Manual of BW500.
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