Design Of Self-balancing System For Ball-board Model

The ball-board system equipment is a very famous experimental equipment in the classical control theory research.The ball-plate system is also a typical experimental device with unstable open-loop poles.When the equipment of the ball board system is working,the movement of the ball mainly depends on the RC servomotors in the X and Y directions.The motors rotate to make the connecting motor's connecting rod drive the tilt of the board,so as to control the movement position of the ball on the board.As teaching AIDS,ball board system equipment has intuitive and vivid teaching characteristics.The ball-plate system is a non-linear unstable system.In the field of the actual control,nonlinear,unstable system control design and the establishment of mathematical model is often need to overcome many difficulties,because the vast majority of unstable system is difficult to control,which is one of the main problems encountered in the process of experiment and difficult,so it is very necessary to study on early in the lab.It can be said that the ball-board system is the most ideal experimental tool to solve this problem.Based on the knowledge of control theory course,this paper designs a ball board system equipment with embedded controller.The main parts are as follows: firstly,the mechanical part of the whole ball plate system is designed,including the base plate,support rod,universal joint,motor connecting rod and resistance screen support frame.Then the model selection and design of the ball board system's executive parts: RC servo motor,Angle sensor,five-wire resistance screen,and Angle sensor circuit are carried out.Secondly,the ideal model of the system is established by taking the ball-board system as the actual control object,and then the equations of motion are derived by using Lagrange and Newton's laws of motion respectively,and the transfer function of the system is finally calculated.At the same time,P controller,PD controller,PV controller and PID controller were designed and SIMULINK simulation was conducted to check the experimental results.Finally,PID controller is used to control the equipment of the actual ball-board system,and the main parameters are made to meet the requirements of teaching experiments.