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. This allows us to design a sliding mode controller which overcomes the problems associated with. A slidingmode controller from a reduced system model. Control of a ball and beam system mechanical engineering. The effect of the static striebeck friction in the robust. The ball and beam system is one of the most popular models for.
The ball and beam balance is a safe way to investigate control design for unstable systems. Slidingmode control of a ball on wheel system youtube. 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. Either the nonlinear model of the underactuated systems is transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. The proposed control method is realized in two cascaded control structures such that primary and secondary, respectively. This paper presents an acooptimized fuzzy sliding control scheme for a ball and beam system. Sliding mode control and feedback linearization for non. These intelligent controllers are derived from some prior infor mation or inputoutput data of the ball and beam system. Pdf revisiting nonlinear control design of a ball on a beam. This paper investigates the application of smooth higherorder sliding mode hosm control to a class of underactuated mechanical systems. The sliding mode control filippov theory physical interpretation of the equivalent control invariance in slidingmodes sliding mode control design using the sliding mode control. Ball and beam control system simulation with simulink ball and beam control system simulation with simulink loading.
This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Pdf design a dynamic sliding mode controller for a ballbeam. Research article robust control of underactuated systems. In this paper a robust integral sliding mode control rismc approach for underactuated systems is proposed. This paper describes the design of a few types of controller for ball and beam system that consist of conventional controller, modern controller and intelligent. Underactuated mechanical systems have increasing practical importance, but their strong nonlinear behavior and increased vulnerability to uncertainties due to the absence of actuators for some of the configuration.
The principle is then applied to the ball and beam system for observation of the slope of the beam from the measurement of the ball. It can usually be found in most university control labs. Classical rst order sliding mode higher order sliding mode from 1rst order to higher order sliding modes w. Nonlinear pd regulation for ball and beam system wen yu. Join the grabcad community today to gain access and download.
Position control of a ball beam experimental setup based. Linear robust generalized proportional integral control of a ball and beam system for trajectory tracking tasks, american control conference acc, boston, ma, july 68, pp. Sliding mode control of ball and beam system research. It can be used only when the control signal ut can switch at high frequency. Pdf revisiting nonlinear control design of a ball on a. Pdf this paper investigates the sliding mode control of the ball on a beam system. Feedback linearization and sliding mode control are used to design a. The control objective is to balance the ball on the top and, at the same time, place the cart in a desired position, usually the middle of the track.
Introduction the control problem sliding mode techniques were perhaps originally best known for their potential as a robust control method, and evolved from pioneering work in the 1960s in the former soviet union. Sliding mode control design under partial state feedback. Ball and plate system, sliding mode control, robust control, multivariable control, nonlinear control. In this paper, a sliding mode control smc method is introduced to design a control methodology for the ball and beam experimental setup bbs that consists of a servo motor, beam and ball. A sliding mode controller smc is designed and implemented with an objective to control the ball position on the beam by varying the angular position of beam. Pdf on the sliding mode control of a ball on a beam system. The statefeedback control law is not a continuous function of. Introduction the ball and beam system is a simple mechanical system which usually difficult to control. Pdf position control of a ball beam experimental setup based on. The adaptive control comprises of an ideal control and a sliding mode control. The key idea is to apply strong control action when the system deviates from the desired behavior. Pdf on the sliding mode control of a ball on a beam. Smooth higherorder sliding mode control of a class of. The observer incorporates multiple linear observers through interpolation of multiple estimates, which is treated as a type of adaptation.
Interpolating sliding mode observer for a ball and beam. The ball and beam system is one of the most popular laboratory experiments for control education. For this system the gear and lever arm would not be used, instead a motor at the center of the beam will apply torque to the beam, to control the balls position. The sliding mode control approach is recognized as one of the efficient tools to design robust controllers for complex highorder nonlinear dynamic plant operating under uncertainty conditions. We show that, using a switched periodic controller, we can incrementally track integral curves of certain lie brackets of the drift and controlled vector fields for the ball and beam. Partial state feedback,sliding mode control,ball and beam system 1. A static and a dynamic slidingmode controllers are designed using a simplified model of the system.
Application of sliding mode control to the ball and. First, we will study the response of the system shown above when a proportional controller is used. It is suitable, for example, for controlling electric motors where the control signal ut is usually a voltage. The grabcad library offers millions of free cad designs, cad files, and 3d models. Fuzzy slidingmode control for ball and beam system with. Fuzzy slidingmode control for ball and beam system with fuzzy ant colony optimization. Author links open overlay panel yeonghwa chang a chiawen chang a chinwang tao b hungwei lin c jinshiuh taur d.
Also, the selection conditions for the controller parameters are derived to preserve the system stability. The purpose of this work is to design a sliding mode control from a reduced sy stem model using a pid as sliding surface. The design of fuzzy slidingmode controllers for the ball and beam system is discussed in section 3. The proposed fuzzybased aco algorithm has the enhanced capability of pheromone updating such that the trapping of local optima can be avoided. The proposed acooptimized scheme is utilized to tune the parameters of the fuzzy slidingmode controllers for a real ballandbeam system. A static and a dynamic slidingmode controllers are designed using. Matlab based modeling and modulation of nonlinear ballbeam system controller has been demonstrated in 6. The ball and beam system is open loop unstable since for a given constant angle of tilt on the beam, the balls position changes without limit. Decoupled neural fuzzy sliding mode control of the nonlinear ball on beam system has been considered in 4. Motion equations for the ball and beam and the ball and. The controller is applied to a ball and plate system which has extremely nonlinear. This study covers the sliding mode control design for a class of nonlinear systems, where the control input affects the state of the system linearly as described by. It consists of rigid beam which is free to rotate in the vertical plane at the pivot, with a solid ball. Erol kocao glan june 2008, 141 pages in this thesis different control methods are applied to the beam and ball system.
Second, adrc is designed and applied to the ball and beam system and the dc servomotor. A static and a dynamic slidingmode controllers are designed using a. This ball on wheel system was designed and built at lca and the controller was developed as a final course work on pmr5014, taught by professor eduardo a. I many laboratories use simple controllers such as pd. 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. Sliding mode control and feedback linearization for nonregular.
On the sliding mode control of a ball on a beam system. Department of electrical and electronics engineering supervisor. The system includes a ball, a beam, a motor and several sensors. A novel ball on beam stabilizing platform with inertial. Nonlinear model predictive control for a ball and beam has been implemented in 5. The research in this area were initiated in the former soviet union about 40 years ago, and then the sliding mode control methodology has been. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Abstracta principle of interpolating sliding mode observer is introduced in this paper. The main streamline of the study is the sliding surface design for the system. It is generally linked to real control problems such as horizontally stabilizing an airplane during landing and in turbulent airflow. This paper investigates the sliding mode control of the ball on a beam system. The proposed faco algorithm is described and applied to some test benchmarks in section 4. The ball and beam system is also called balancing a ball on a beam.
The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. Volume 39, issue 3, 15 february 2012, pages 36243633. Band gare constants and the input uis a nonlinear transformation of the torque using the typical steps for feedback linearization fbl or sliding mode control smc, take the derivatives of ytill. Pdf on aug 21, 2017, abdullah basci and others published position control of a ball beam experimental setup based on sliding mode controller find, read. Balance control of ball on ball systems using feedback. Sliding mode control with observer muhammad fuady emzir,ghufran ahmed abstractthe. This system consists of dc motors that drive a big ball to keep a small ball staying on the big ball. Third, the control model of the ball and beam system is built on the basis of adrc. A lot of studies is proposed to control nonlinear system as well as this ball on a beam system such as pdfuzzy, sliding mode control smc.
Sliding mode controller design sliding mode control is a special version of an ono control. Incremental sliding mode control of the ball and beam. The motivation of this controller is to introduce the lyapunov function vx. View sliding mode control of ball and beam system research papers on academia. Incremental sliding mode control of the ball and beam, ieee trans. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam.
Robust control of a ball and beam system through sliding mode. Ballplate system, slidingmode control, pi d controller, stabilization, reduced system model. The block diagram for this example with a controller and unity feedback of the balls position is shown below. The sliding mode control technique is characterized by the following features. The lqr is designed considering two degreesoffreedom and coupling dynamics. Experimental control design for ball and beam system issuu. The sliding mode control was used for ensuring the stability of lyapunov function. First, the model of the ball and beam system, including the motion equation of the system and the dc servomotor, is established. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. Incremental sliding mode control of the ball and beam abstract. Introduction in recent years, many contributions have been presented in control literature that solve the control design problem for classes of nonlinear systems 8. Furthermore, some intelligent controllers for ball and beam can also be found, such as fuzzy control 3, sliding mode control 4, neural control 5, etc.
The proposed aco algorithm has the enhanced capability of fuzzy pheromone updating and adaptive parameter tuning. The statespace equations can be represented in matlab with the following commands these equations are. The apparatus has a steel ball which is free to roll on two parallel tensioned wires. In control systems, sliding mode control smc is a nonlinear control method that alters the dynamics of a nonlinear system by application of a discontinuous control signal or more rigorously, a setvalued control signal that forces the system to slide along a crosssection of the systems normal behavior. Conventional pid controllers use incomplete simplified models and are mostly designed for linear. Revisiting nonlinear control design of a ball on a beam system. Therefore, some form of feedback loop must be used to control the balls position.831 1357 1561 893 373 1516 261 852 258 1208 77 888 1430 282 834 1321 7 158 1402 1317 105 706 353 1288 1555 1123 808 741 67 985 891 462 1346 1232 391 345 613 1478 415 1386 1269 1243 1327 817 914 359 12 1402 1091