Kelkar, Fall 2012

ME 411 LABORATORY EXERCISE # 4

Course Instructor: Dr.Atul Kelkar Lab Instructor: Ruchir Goswami (goswami@iastate.edu) Time Allocated: 2 Weeks Total points: 50 DUE: At the start of lab time in the week of Oct. 22nd, 2010.

Modeling of the Ball and Beam Experiment

Ball and beam system: Schematic of a Ball and Beam system is shown in Fig. 1. A ball is placed on the beam and is allowed to roll along the length of the beam. A lever arm is attached to the beam at one end and a servo gear at the other. As the servo gear turns by an angle , the lever changes the angle of the beam by . As the angle is changed, the gravity causes the ball to roll along the beam. The servo gear is attached to a DC motor so that the angle of the beam can be controlled. Our goal is to design a controller so that the ball position can be manipulated by changing the angle of the gear.

Figure 1: Schematic diagram for the ball and beam experiment. For this system, we will assume that the ball rolls without slipping and friction between the beam and the ball is negligible. The constants and variables for this system are defined as follows: m = mass of the ball=0.07Kg Rball = radius of the ball =0.01m d = radius of the gear = 0.03 m L = length of the beam = 0.43m x = ball position coordinate.

Kelkar, Fall 2012

Part I (15 Points): Linearize equations of motion: The nonlinear equation of motion for the ball is given by ( ) ( ) ( )

(a) Obtain the equilibrium point. Then linearize the equation about the equilibrium point. (b) Obtain the relationship between the gear angle () and the beam angle (), such that = g(), and when = 0, =0. Linearize g for a small and about =0. Substitute the linear relation for and obtain the equation of motion with input and output x. Write the linearized equation of motion for the system with as input and x as the output. Part II (10 pts.): Plot open loop response Obtain the transfer function ( ) ( ) Using the step and the rlocus commands in Matlab, plot the step response and the root locus for G(s). ( ) Part III (15 Points): Design PD controller The goal is to design a controller such that the following specifications are met by the step response: 1. The overshoot is less than 5% 2. The settling time is less than 3 sec. Compute desired natural frequency (n) and damping ratio () from the given design criteria. Obtain closed loop transfer function for the system along with the PD controller. Plot the step response and root locus and see if all the design criteria are met. Part IV (10 Points): Simulate using Simulink Develop a simulink model of the closed-loop system using open-loop transfer function and controller transfer function derived in Part III. Plot the step response over 5 seconds. Attach Simulink diagrams, system response plots and root locus diagrams to the report. The response plots in Part III should indicate the settling time and overshoot. All the figures should have the title and appropriate labels. Also attach your m-file or commands typed in the matlab command window to the report.