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LAB 2: Design of Lead-Compensator Controller For Ball and Beam System Objectives

This document describes designing a lead compensator controller for a ball and beam system in Simulink. The objectives are to design and simulate a lead compensator controller and analyze the results compared to the open-loop system. The procedure involves bringing up the open-loop ball and beam model, replacing the step block with a lead compensator with specific parameters, simulating the model, and analyzing the stable simulation results, which show the ball reaching a steady state.

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111 views5 pages

LAB 2: Design of Lead-Compensator Controller For Ball and Beam System Objectives

This document describes designing a lead compensator controller for a ball and beam system in Simulink. The objectives are to design and simulate a lead compensator controller and analyze the results compared to the open-loop system. The procedure involves bringing up the open-loop ball and beam model, replacing the step block with a lead compensator with specific parameters, simulating the model, and analyzing the stable simulation results, which show the ball reaching a steady state.

Uploaded by

samart94
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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LAB 2: Design of Lead-compensator controller for ball and beam system

Objectives:
1. To design a lead-compensator controller
2. To simulate the controller on ball and beam system
3. To analysis the simulation result compare with the open-loop sysem
Introduction:
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. A lever arm is attached to the beam at one end and a
servo gear at the other. As the servo gear turns by an angle theta, the lever changes the angle
of the beam by alpha. When the angle is changed from the horizontal position, gravity causes
the ball to roll along the beam. A controller will be designed for this system so that the ball's
position can be manipulated.

For this problem, we will assume that the ball rolls without slipping and friction between the
beam and ball is negligible.
Procedure:
1. Bring up your open-loop Ball and Beam model window

Figure 1

2. Delete the line which connects the Step block to the Ball and Beam model block. Likewise,
follow the Figure 2 and change the lead compensator with a zero at -0.01 and a pole at -5,
with a gain of 37.1.

Figure 2
3.After that, key in the parameter of the components shown in Figure 3.

Figure 3

4.Therefore, click the simulation in Simulink and then open the scope window and hit the
Autoscale button.
Simulation result:

Figure 4
Discussion:
The open-loop ball and beam system is not stable such as what we expected so the lead-
compensator controller is added to ball and beam system to make it able to obtain the stable
simulation result. Some problems have faced during selecting the parameter of zero, poles
and gain. From the Simulation result, the ball is starting to moving from 0 to 2 seconds until
it reaches the maximum amplitude which means the ball is in static state condition in
maximum amplitude. It won’t be able to change by time. It also can call the system is in
steady state region after 2 seconds.

Conclusion:
This report is to investigate the emotional behaviour of the ball and beam model by using
simulation method. From the simulation result, it is so clear that the step response is stable in
closed-loop after 2 seconds, it keeps holding the ball on the beam. And then the Figure 4 also
show the value of overshoot, rise time and steady state which are 1.17, 1.2 and 2. The closed-
loop ball and beam system is stable, and predicted than open-loop ball and beam system.  For
example, if the systems output changes for any reason, then negative feedback affects the
input in such a way as to counteract the change. Feedback reduces the overall gain of a
system with the degree of reduction being related to the systems open-loop gain. Feedback in
an electronic system, whether negative feedback or positive feedback is unilateral in
direction. Meaning that its signals flow one way only from the output to the input of the
system. This then makes the loop gain, G of the system independent of the load and source
impedances.

As feedback implies a closed-loop system it must therefore have a summing point. In a


negative feedback system this summing point at its input subtracts the feedback signal from
the input signal to form an error signal, β which drives the system. If the system has a
positive gain, the feedback signal must be subtracted from the input signal in order for the
feedback to be negative.

Reference:
http://ctms.engin.umich.edu/CTMS/index.php?
example=BallBeam&section=SimulinkControl

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