GBP2001

The ball and plate system is a multi-variables, non-linear control target, which is the 2D extension of ball and beam system. The control target is a plate with 2 mutually perpendicular rotating axes, with the aim of balancing a free rotating ball in a specific position on the plate, or having it rotating in a specific trajectory. The rotation of the plate along X-axis and Y-axis are driven by 2 motors, the vision sensor obtains the position of the ball on the plate and feedback to the control system, certain control strategies are applied to control the board for rotating angles along X-axis and Y-axis by the control system, and thus the balancing position and the motion trajectory of the ball on the plate is achieved.
 

System Characteristics

• Position of the ball is detected by visual device.
• PC+ motion controller open architecture control platform is used
• DC serve motors are adopted in driving joints
• 1000-line rotary encoder is used to detect the 2D rotating angles
• High performance image acquisition card and camera lens
• System is easy to control, operate and safe to use.

Reference experiments

• Identification of Demarcation of linearity and non-linearity model of video recorders
• Model-building of sSystem dynamics modeling and analysis
• Application and research of image processing calculationalgorithms
• 2D servo control based on visual vision technology
• Research of PID controller and other classical control calculationsmethods
• Research of self-defined control calculationsalgorithms

Control Examples 

• Position the ball to the centre of the plate
• Position the ball to a specific point on the plate
• Movement of the ball to a particular position via a specific trajectory
• Travelling of the ball to a certain point under local limitation of rotation in a certain direction (+/- 10 degrees)
• Display of preset posture of the ball at the preset position