A Robotic Ball Balancing Beam Jeff Lieberman（一个机器人球平衡梁杰夫·利伯曼）.pdfVIP

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A Robotic Ball Balancing Beam Jeff Lieberman（一个机器人球平衡梁杰夫·利伯曼）.pdf

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A Robotic Ball Balancing Beam Jeff Lieberman（一个机器人球平衡梁杰夫·利伯曼）

A Robotic Ball Balancing Beam Jeﬀ Lieberman February 10, 2004 Abstract I designed a beam to balance and move a chrome steel 1.25” di- ameter ball, to a desired position/waveform through time, stably and with high performance behavior. I tested the ball to make sure it could retain its central position, as well as following diﬀerent frequency sine and square waves of desired position, with or without human distur- bances, and it succeeds in these tasks, up to a sine wave frequency of roughly 0.5 Hertz [at an amplitude of roughly 80% of the overall system travel], at which point the linearization of the system model breaks down and the mechanical system becomes unstable. 1 Introduction The Ball Balancing Beam is a common feedback control system project, due mostly to its ease in construction, interesting asthetics, and its use in learning about applying control to stabilize an otherwise unstable system. The setup is reasonably simple - some sort of beam is mounted 1 on a motor shaft [or commonly through some transmission]. The beam is set to stably hold a ball in one dimension, [usually by being com- posed of two parallel beams], so that it can only roll back and forth in the one unconstrained dimension. This system is extremely unstable [as will be explained in more detail below], and needs compensation to stablize. Once stabilized, the system is usually commanded to a zero [or centralized] position, and outside disturbances such as people pushing the ball are rejected by the system. After that was accom- plished, I decided to test alternate control signals to explore dynamic behavior. 2 Dynamic Model The ball balancing beam setup is shown in Figure [1] with relevant labels.