The scale model demonstrates control problems associated with unstable systems. The system consists of a plate pivoted at its centre such that the slope of the plate can be manipulated in two perpendicular directions. A servo system consisting of motor controller card and two stepper motors is used for tilting the plate. Intelligent vision system is used for measurement of a ball position. The basic control task is to control the position of a ball freely rolling on a plate. The Ball&Plate system is a dynamic system with two inputs and two outputs. Both coordinates can be controlled independently as their mutual interactions are negligible due to low velocity and acceleration rate of the ball movement. The system is naturally sampled as both actuators and sensor are of a digital, discrete time nature. The system is designed to be controlled by digital controllers.
Range of Experiments
An extensive range of experiments can be carried out with this apparatus:
DC Power Supply, 32 V, 100 W
Standard PC PCI card able to control up to three stepper motors or DC motors using PWM modulation, with 8 digital TTL inputs and 8 digital TTL outputs.
Two Timer channels used for control of stepper motors. Digital I/O used for control signals.
CCD Web Camera with USB interface.
Resolution: 384x256, color
A comprehensive technical manual is provided giving details of the apparatus and full description of model control signals and cables.
Educational Manual provided with the model is an effective tool for using model in teaching process. Manual describes dynamics of the system, many working examples lead the student through experiments from identification to advanced control of the model.
Model is designed for control by a standard IBM PC or compatible computer, one free PCI slot required.
Single phase A.C. 220V / 50Hz (120V / 50 - 60Hz optional), 100W power supply.
For satisfactory use of the model a bench area of 1000mm x 600mm is required.
Dimensions and Weights
CCD camera is mounted on the rod attached to the rear side of the main body.