Design a control system to manipulate the position of a rolling ball on a beam.
A DC motor drives a beam such that the motor angle controls the tilt angle of the beam. A ball travels along the length of the beam. When the beam is horizontal, the ball does not experience any acceleration. The ball position is measured using a conductive plastic element mounted on the beam. An optional remote sensor is also available for operation in master / slave tracking mode.
The aim is to design a control system to track the ball to a commanded position. The system is supplied with a dual loop PD controller for the servo as well as the ball position. You may design any other controller you wish.
Undergraduate - first course