Ball on wheel
Controller design with Sysquake and Calerga VR
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:
- Drag a point not on the system to move the point of view around the system. You can revert to the initial view with the target icon , and restart the simulation with the reset icon .
- Drag the wheel to make it rotate.
- You can reduce the power consumed by your computer by unselecting the “Run” checkbox to pause the simulation.
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.
The transfer function of the two subsystems and the controller parameters can be computed with Sysquake.