Abstract
The problem of balancing is a continuous study challenge for application in many spheres of interest from education to transportation. Two-degree of freedom ball balancing laboratory test bench is an important plant for control systems understanding. This paper focuses on the mechanical design and control algorithm of balancing a ball on a plate. The plant was equipped with resistive touch screen for ball position data acquisition, stepper motors with position sensors for platform inclination angle feedback data and AVR microcontroller-based two-loop subordinate control system with PID controllers for ball position maintaining. The laboratory bench was designed and assembled in Saint Petersburg Electrotechnical University “LETI” at the Automatic control systems department.
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More From: IOP Conference Series: Materials Science and Engineering
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