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Ball in wheel

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. Circular rails are fixed around the wheel and a ball rolls freely inside them. The ball movement is limited to the lower part of the disk to force it to stay in contact with the rails.

Then interact with the system:


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.


Controller design

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

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