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Ball on 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 on top of them with an unstable equilibrium at the top position. The ball movement is limited to a small range.

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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