Ball and Beam System Stabilization using PID Control | MATLAB Simulation & Arduino Implementation скачать в хорошем качестве

Ball and Beam System Stabilization using PID Control | MATLAB Simulation & Arduino Implementation

This project demonstrates the design and implementation of a Ball and Beam Control System using a PID controller. The ball and beam setup is a classical control systems experiment used to study unstable nonlinear systems and feedback control techniques. First, the system was mathematically modeled using Lagrange's method, and the transfer function of the system was derived. The system model was then implemented in MATLAB/Simulink to analyze system behavior and tune the PID controller parameters. After simulation, the controller was implemented on real hardware using an Arduino Uno microcontroller, an infrared distance sensor (Sharp 2Y0A21), and a Futaba S3003 servo motor to control the tilt angle of the beam. The PID controller continuously adjusts the beam angle based on the measured ball position in order to stabilize the ball at the desired setpoint. During the experimental results, small spikes can be observed around the setpoint in the measured position graph. These spikes are mainly caused by sensor noise from the infrared distance sensor and small fluctuations in analog readings. Variations in surface reflection, electrical noise, and ADC measurement resolution introduce small variations in the sensor output. Despite these small measurement fluctuations, the PID controller successfully stabilizes the ball near the desired setpoint and demonstrates effective closed-loop control of the system. COMPONENTS USED: • Arduino Uno • Futaba S3003 Servo Motor • IR Distance Sensor (Sharp 2Y0A21) • Beam and Ball Mechanical Setup • External 5V Power Supply • MATLAB / Simulink for system simulation PERFORMANCE SUMMARY: • Rise Time ≈ 0.61 s • Peak Time ≈ 1.33 s • Settling Time ≈ 4.12 s • Overshoot ≈ 21.3 % TECHNOLOGIES USED: • Control Systems Engineering • MATLAB / Simulink • PID Control Algorithm • Embedded Systems (Arduino) • Feedback Control