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Datasheet - Ball and Beam Control System

The document describes a ball and beam control system for teaching automatic control principles. The system uses a DC motor and gear reducer to control the angle of a beam and position a ball on a track. Students can perform experiments to model the system, design controllers using techniques like PID and root locus, and analyze frequency response. The newer GBB2004 model provides real-time control and improved performance over the GBB1004. Both systems can interface with Matlab for simulation and real-time control experiments.

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Shaojie Cui
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109 views3 pages

Datasheet - Ball and Beam Control System

The document describes a ball and beam control system for teaching automatic control principles. The system uses a DC motor and gear reducer to control the angle of a beam and position a ball on a track. Students can perform experiments to model the system, design controllers using techniques like PID and root locus, and analyze frequency response. The newer GBB2004 model provides real-time control and improved performance over the GBB1004. Both systems can interface with Matlab for simulation and real-time control experiments.

Uploaded by

Shaojie Cui
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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GOOGOLTECH

Ball & Beam Control System

Overview

GBB series Ball & Beam control system are specially designed for courses in
automatic control principle, modern control engineering, and electrical motor
control. It is able to control the position of a stainless steel ball on the track
by adjusting the rotating angle of a beam. The system consists of two parts,
namely the Ball & Beam body and the control system.

The Ball & Beam body consists of a v-grooved steel bar and a free rolling ball.
The linear sensor measures the position of the ball on the track by measuring
the output voltage from the stainless steel bar. A DC motor is connects to a
gear reducer, which controls the angle of beam, accordingly realize the position
control of the ball. Experiments such as system modeling, design of feedback
controller, P, PD and PID control system design, design controllers using root
locus methods, and frequency response methods etc. can be achieved with
this experiment platform.

Experiment Content and Directions GBB2004

With the experiment platform, students will learn the method of control system
analysis and design as they are new in this area. “Experiment course based
on the control system analysis and design of ball and beam” describes how
to select control algorithm for better performance index after the electrical and
mechanical part of the control system is completely confirmed. Method of
control system analysis and design is introduced gradually according to the
learning characteristic of the students.

Comprehensive Experiment PID adjustment


Root locus adjustment
Designed Experiment Frequency domain adjustment
Status feedback control
Verifying Experiment System modeling and stability analysis
GBB1004

Composition Structure of Control System

There are two different control for the two ball and beam systems. For real time control under Matlab, GBB2004 model is recommended.

Non-real time control by intelligent drive (up to Matlab ver. R2010b) or Analog Control Box
Ball & BEAM
GOOGOLTECH

Ball & Beam Control System

Real time control by using dedicated motion controller - for Matlab ver. R2012b or above

Model GBB1004 GBB2004


System input rang is small and slower System input range increased and quicker
Mechanical structure
response response
Control method IPM Motion Studio GTS-400 motion control card
Real-time control No YES
System input range Smaller Larger
simple mathematical model many non-linear factors are considered
big variation between step response
Experiment quality simulation and actual curves are very close
simulation curve and actual curve;
overall performance is poor overall performance is good

Matlab Control Interface

Take frequency domain step response as an example: Frequency domain step response simulation curve:
Ball & BEAM

Frequency domain step response real time control curve:


Frequency domain step response real time control interface:
GOOGOLTECH

Ball & Beam Control System

Controller parameters Performance Index

1+ 0.4646s
Compensation Simulation 0.5 ! δ=33％ ts=6s, Steady-state error 2%
1+ 0.0114s
1+ 0.4646s
Compensation Result 0.5 ! δ=39％ ts=8.1s, Steady-state error 8.2%
1+ 0.0114s

Technical Specifications

Moving range 400mm Ball diameter 30mm

Control precision < 5mm Motor DC servo 70W

Synchronous belt reduction ratio 4 Power supply AC220V 50HZ 1A (AC110V optional)

Weight < 10Kg Dimension 530 x 200 x 332 mm

Ordering Guide

Model no. Product name Standard package


Ball & beam system main body (new)
GTS-400 motion control card
Ball & beam
GBB2004 Electric control module
system (new)
Easy Motion Studio software development platform
Googol Simulink general software experiment platform
Ball & beam system main body
Ball & beam Electric control module
GBB1004
system IPM Motion Studio software development platform
Googol Simulink general software experiment platform
Analog control
GAES1001 For both systems (Optional)
system
Ball & BEAM

GOOGOLTECH

GOOGOL TECHNOLOGY (HK) LIMITED GOOGOL TECHNOLOGY (SZ) LIMITED GOOGOL TECHNOLOGY (TWN) LIMITED
Unit 1008-09, 10/F C-Bons International Center, 108 Room W211, IER Building (PKU-HKUST High- 7F-3, No.97, Sec. 3, Taichung Port Road, Xitun
Wai Yip Street, Kwun Tong, Kowloon, Hong Kong tech Industrial Park, Nanshan District, Shenzhen, Dist., Taichung City 40755, Taiwan.
Tel.: +(852) 2358-1033 PRC (Postal Code: 518057) Tel.: +886-4-2358-8245
Fax:+ (852 )2719-8399 Tel.: +(86) 755-26970817, 755-26970824, Fax: +886-4-2358-6495
E-mail: [email protected] / [email protected] Fax: +(86) 755- 26970821 E-mail: [email protected]
Web: http://www.googoltech.com E-mail: [email protected]
Web: www.googoltech.com.cn

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