Team Blue Heron: Educational Ball and Beam Feedback Control System
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EE/CS 481 Spring 2008 1 Founder’s Day, 2008 University of Portland School of Engineering Team Blue Heron: Educational Ball and Beam Feedback Control System Authors Bryan Weber David Kim Thomas Neveu Advisor Dr. Peter Osterberg Dr. Robert Albright Industry Representative Mr. Mike DeSmith - Intel
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Team Blue Heron: Educational Ball and Beam Feedback Control System. Advisor Dr. Peter Osterberg Dr. Robert Albright Industry Representative Mr. Mike DeSmith - Intel. Authors Bryan Weber David Kim Thomas Neveu. Agenda. Introduction Thomas Background Thomas Methods Bryan - PowerPoint PPT Presentation
Transcript of Team Blue Heron: Educational Ball and Beam Feedback Control System
EE/CS 481 Spring 2008
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Team Blue Heron: Educational Ball and Beam Feedback Control SystemAuthors
Bryan Weber
David Kim
Thomas Neveu
AdvisorDr. Peter Osterberg
Dr. Robert Albright
Industry RepresentativeMr. Mike DeSmith - Intel
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Agenda
• Introduction Thomas
• Background Thomas
• Methods Bryan
• Results David
• Conclusions David
• Demonstration Team
• Acknowledgments Thomas
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Introduction
Goal: Develop a ball and beam feedback control system
Why: To provide an educational tool that demonstrates control theory
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Background
• Objectives: Long-lasting and interactive feedback system
• Inspiration– Magnetic levitation
– Inverted pendulum
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Research• Evencio A. Rosales
• Armin Ataei-Esfahani
• Ben S. Cazzolato and Wei Wang
• Professors Bill Messner and Dawn Tilbury
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Block Diagrams
Power Supply
Analog Control Circuit
DC Motor
DC Motor Power Drive
Steel Ball
Beam Movement
Ball Position Sensor (Linear POT)
Base/Stand
Desired PositionPOT
+-
PID(Control Circuit)
DC Motor
PlantDesired Position
Ball Position on Beam
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MATLAB Analysis
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Final Transfer Function:
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Circuit Design
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MATLAB Stability Analysis
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 10
0.2
0.4
0.6
0.8
1
1.2
1.4Step Response
Time (sec)
Am
plitu
de
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Results – Circuit Design
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Results – Oscilloscope
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Results – Issues
• Noise filters– Power source– Gain stages
• Wrong motor
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Conclusions• Electrical design works
• But, wrong motor
• Future work required
• Overall success: learning experience
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Demonstration
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Acknowledgments
• Dr. Osterberg
• Neil Tuttle
• Jesse Fledderjohann
• Josh Triska
• Mike DeSmith
• Dr. Albright
• Rick Severs
• Sandy Ressel
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Thank You.
Are there any questions?
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Damping Example
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