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.
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. Students can understand the effects of different controller types on the system and easily cover controller design concepts with control system experiments. The ready-to-use courseware and a wide range of software options give the maximum flexibility 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. Open-source software makes it possible that students and researchers can modify and test their own developed algorithms.
LabVIEW, Real-Time (optional), FPGA (optional)
Altair Activate
Executable & GUI
LabVIEW, Real-Time, FPGA (optional)
API for External Control (Examples for LV, Matlab, Python)
* Different controllers may require
Local PC (Windows)
Local PC (Windows / Mac OS)
Remote Lab

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®, LabVIEW™ and Altair Activate®

Fully documented system models and parameters provided for MATLAB®/Simulink®, LabVIEW™, Altair Activate®

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 into 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

Digital twin available in Altair software.

Components of Ball Balancing Table
RC Servo Motors
Touch Sensor Controller
Acrome Power Distribution BoxMechanics of the System
PWM Signaling Theory
Generating PWM Signals Driving
RC Servos with PWM Signals
Lagrangian Method
Newton’s Law of Motion
Modeling of Actuator
Obtaining Transfer Function
Reading Ball Position from Touch Sensor
Derivative Filtering
Time Domain Characteristics
Steady State Response and Steady State Error
Design of Linear Controllers
PID controller and Fuzzy Logic Controller
Comparing the Simulation and Real System Responses for Different Controllers
Frequency response analysis
Experimental Bode Diagram
Cut-Off Frequency Determination

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*We offer customization in our product upon customer’s request.

Please Contact us for more information.

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