The Ball and beam balancing problem using PID and fuzzy logic

• Main Authors: Baylon, Richard Philippe O., De Guzman, Reden L., Florentino, Andrei Jesse P., Lee, Rose May C., Zulueta, Zandro Jose Sigfrido L.
• Format: text
• Language: English
• Published: Animo Repository 2000
• Subjects: PID controllers; Fuzzy logic; Automatic control; System design; Systems engineering; Real-time control
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/14536
• Institution: De La Salle University

The ball and beam balancing problem has two main components: the beam and the ball. The beam would be made to rotate at its center while the ball would be made to roll freely along the beam. The objective of this study is to position the ball near the center of the beam using the Proportional-Integral-Derivative (PID) controller or the Fuzzy Logic controller given the conditions that the ball is initially +285mm away from the center and the beam has a maximum initial angle of +35. It also aims to make a comparative study between the performances of the two controllers in solving the problem. This ball and beam balancing problem is different because it uses a camera as a sensor to determine the position and velocity of the ball from the center. It was concluded through this study that the Fuzzy Logic controller was better than the PID controller because it could balance the ball closer to the center at a faster rate.