Ball Balancing Table

2 DOF Control Platform for Teaching and Research

ACROME Ball Balancing Table is an innovatively designed experiment system suitable for controls and mechatronics education and advanced research topics.

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OVERVIEW

Ball Balancing Table, with its easily accessible and user-friendly components, is a hands-on experiment, closing the gap between real industrial systems and DIY-approach. Open source software makes it possible that students and researchers can modify and test their own developed algorithms. Students can understand the effects of different controller types on the system and easily cover controller design concepts with control system experiments. With the extensive control system courseware and controllers, such as NI myRIO, Arduino they have the opportunity to learn the essential aspects of control theory by experimenting. The system is also suitable for graduate studies for designing advanced controller types such as robust control, adaptive control, and so on.

FEATURES

Assembled and ready to control plant with the integrated power unit
Getting Started Program with rich Graphical User Interface for out-of-the-box user experience
Implementation of advanced digital control techniques
Fully compatible with MATLAB®/Simulink® and LabVIEW™
Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™
Ball position feedback using a high precision touch surface (camera based feedback optional) Actuating the table by RC servo motors, which are familiar to students
Rectangular and circular path options are integrated in the software
Enables students to create their own real-time algorithms.Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems

CURRICULUM

COMPONENTS OF BALL BALANCING TABLE
- RC Servo Motors
- Touch Sensor
- Controller
- Acrome Power Distribution BoxMechanics of the System
FUNDAMENTALS OF PWM
- PWM Signaling Theory
- Generating PWM Signals Driving RC Servos with PWM Signals
SYSTEM MODELING
- Lagrangian Method
- Newton’s Law of Motion
- Modeling of Actuator
- Obtaining Transfer Function
FEEDBACK IN CONTROL SYSTEMS
- Reading Ball Position from Touch Sensor
- Derivative Filtering
PERFORMANCE MEASURES
- Time Domain Characteristics
- Steady State Response and Steady State Error
CONTROL SYSTEM DESIGN
- Design of Linear Controllers
- PID controller and Fuzzy Logic Controller
- Comparing the Simulation and Real System Responses for Different Controllers
CONTROL SYSTEM VERIFICATION
- Frequency response analysis
- Experimental Bode Diagram
- Cut-Off Frequency Determination

SPECIFICATIONS

Calibrated Base Dimensions	: 350 mm x 410 mm
Table Dimensions	: 288 mm x 355 mm
Touch Surface Dimensions	: 17’’
Motor Torque	: 4.8V: 0.5 N·m
Motor Speed	: 4.8V: 0.17 sec/60°