Balancing a ball on a beam / Nor Shamsi Ibrahim

The purpose of this project is to balance a ball on a beam. The control task is to position a steel ball, which rests on the beam (guided by two wires at both side) at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input It is also req...

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Main Author: Ibrahim, Nor Shamsi
Format: Thesis
Language:English
Published: 1994
Subjects:
Online Access:https://ir.uitm.edu.my/id/eprint/104895/1/104895.pdf
https://ir.uitm.edu.my/id/eprint/104895/
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Institution: Universiti Teknologi Mara
Language: English
id my.uitm.ir.104895
record_format eprints
spelling my.uitm.ir.1048952024-10-14T04:22:37Z https://ir.uitm.edu.my/id/eprint/104895/ Balancing a ball on a beam / Nor Shamsi Ibrahim Ibrahim, Nor Shamsi Engineering machinery, tools, and implements Earthwork. Foundations Apparatus and materials The purpose of this project is to balance a ball on a beam. The control task is to position a steel ball, which rests on the beam (guided by two wires at both side) at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input It is also required that the rotation of the beam and the rolling of the ball to occur without any slipping, which imposes a constraint on the rotational acceleration of the beam. The beam is made to rotate in a vertical plane by applying a torque at the centre rotation and the ball is free to roll (with one degree of freedom) on two nichrome support wires along the beam. The beam angle is adjusted and measured by a precision servo- potentiometer mounted on the pivot axis. The position of the steel ball along the beam is measured using a "Wheatstone Bridge" method, in which the small voltage is generated across the wires is proportional to the position of the ball. Using the approximated transfer function of the plant derived by Wellstead (1993), lead compensator, double lead compensator and proportional plus derivative continuous controller were designed using root locus approach. discrete-time equivalents of the analog controllers were obtained. 1994 Thesis NonPeerReviewed text en https://ir.uitm.edu.my/id/eprint/104895/1/104895.pdf Balancing a ball on a beam / Nor Shamsi Ibrahim. (1994) Advanced Diploma thesis, thesis, MARA Institute of Technology. <http://terminalib.uitm.edu.my/104895.pdf>
institution Universiti Teknologi Mara
building Tun Abdul Razak Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Mara
content_source UiTM Institutional Repository
url_provider http://ir.uitm.edu.my/
language English
topic Engineering machinery, tools, and implements
Earthwork. Foundations
Apparatus and materials
spellingShingle Engineering machinery, tools, and implements
Earthwork. Foundations
Apparatus and materials
Ibrahim, Nor Shamsi
Balancing a ball on a beam / Nor Shamsi Ibrahim
description The purpose of this project is to balance a ball on a beam. The control task is to position a steel ball, which rests on the beam (guided by two wires at both side) at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input It is also required that the rotation of the beam and the rolling of the ball to occur without any slipping, which imposes a constraint on the rotational acceleration of the beam. The beam is made to rotate in a vertical plane by applying a torque at the centre rotation and the ball is free to roll (with one degree of freedom) on two nichrome support wires along the beam. The beam angle is adjusted and measured by a precision servo- potentiometer mounted on the pivot axis. The position of the steel ball along the beam is measured using a "Wheatstone Bridge" method, in which the small voltage is generated across the wires is proportional to the position of the ball. Using the approximated transfer function of the plant derived by Wellstead (1993), lead compensator, double lead compensator and proportional plus derivative continuous controller were designed using root locus approach. discrete-time equivalents of the analog controllers were obtained.
format Thesis
author Ibrahim, Nor Shamsi
author_facet Ibrahim, Nor Shamsi
author_sort Ibrahim, Nor Shamsi
title Balancing a ball on a beam / Nor Shamsi Ibrahim
title_short Balancing a ball on a beam / Nor Shamsi Ibrahim
title_full Balancing a ball on a beam / Nor Shamsi Ibrahim
title_fullStr Balancing a ball on a beam / Nor Shamsi Ibrahim
title_full_unstemmed Balancing a ball on a beam / Nor Shamsi Ibrahim
title_sort balancing a ball on a beam / nor shamsi ibrahim
publishDate 1994
url https://ir.uitm.edu.my/id/eprint/104895/1/104895.pdf
https://ir.uitm.edu.my/id/eprint/104895/
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