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Ball on beam

Controller design with Sysquake and Calerga VR

Virtual Experimentation

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Observe the system to get a basic understanding of its main features: the d.c. electrical motor is on the right and drives a large wheel. Straight rails are fixed on the wheel and a ball rolls freely on them between hard stops.

Observe the movements of the wheel and ball. The controller tries to move the ball to three different rest positions.

Then interact with the system:

Model

For simulation and controller design, the system is represented as a state-space model. It can be split into two subsystems: the electrical drive with the d.c. motor, and the mechanical part with the wheel, rails and ball. These subsystems have a mutual influence, not an input-output connection where causality is clearly defined.

Details

Controller design

The transfer function of the two subsystems and the controller parameters can be computed with Sysquake.

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Questions

With the interactive Sysquake applications, you can experiment with different controller parameters, see their effect on the virtual experiment and get a better understanding, or confirm your knowledge of, automatic control.