Tuning of Ball and Beam System using Cascade Control

Abstract

This project presents a new strategy to approach cascade control tuning by using image processing and machine learning to generate required control parameters to be set into the controller. For test bed purpose a ball balance upon a horizontal beam is used which is actuated with a stepper motor, angle of the balance to be scanned by a camera and analyzed using python alongside an ultrasonic sensor to measure real time distance to the ball, set point to be set by user and control action generated upon generating required information from hardware frame.

State Feedback Control of a Car and Beam Prototype

“…The Car and Beam prototype is a teaching piece of equipment inspired by Ball and Beam systems. The primary objective of the Ball and Beam system is to maintain the ball's position on a beam by controlling the beam's angle (Garai and Balasubramanyam, [1]). Various control techniques have been introduced to manage this system.…”

“…In related literature, Ali et al [2] and Csurcsia et al [3] utilized ARDUINO to implement a PID controller for Ball and Beam systems. Meanwhile, Garai and Balasubramanyam [1] employed a cascade PID controller to regulate the ball position. Aviles et al [4] investigated a PD and a PID controller using an ESP32 as a data acquisition board.…”