Balancing a ball on a beam / Nor Shamsi Ibrahim

The purpose of this project is to balance a ball on a beam. The control task is to position a steel ball, which rests on the beam (guided by two wires at both side) at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input It is also req...

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Bibliographic Details
Main Author:	Ibrahim, Nor Shamsi
Format:	Thesis
Language:	English
Published:	1994
Subjects:	Engineering machinery tools and implements Engineering machinery, tools, and implements Apparatus and materials
Online Access:	https://ir.uitm.edu.my/id/eprint/104895/1/104895.pdf
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id	my-uitm-ir.104895
record_format	uketd_dc
spelling	my-uitm-ir.1048952024-10-14T04:22:37Z Balancing a ball on a beam / Nor Shamsi Ibrahim 1994 Ibrahim, Nor Shamsi Engineering machinery, tools, and implements Earthwork. Foundations Apparatus and materials The purpose of this project is to balance a ball on a beam. The control task is to position a steel ball, which rests on the beam (guided by two wires at both side) at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input It is also required that the rotation of the beam and the rolling of the ball to occur without any slipping, which imposes a constraint on the rotational acceleration of the beam. The beam is made to rotate in a vertical plane by applying a torque at the centre rotation and the ball is free to roll (with one degree of freedom) on two nichrome support wires along the beam. The beam angle is adjusted and measured by a precision servo- potentiometer mounted on the pivot axis. The position of the steel ball along the beam is measured using a "Wheatstone Bridge" method, in which the small voltage is generated across the wires is proportional to the position of the ball. Using the approximated transfer function of the plant derived by Wellstead (1993), lead compensator, double lead compensator and proportional plus derivative continuous controller were designed using root locus approach. discrete-time equivalents of the analog controllers were obtained. 1994 Thesis https://ir.uitm.edu.my/id/eprint/104895/ https://ir.uitm.edu.my/id/eprint/104895/1/104895.pdf text en public advanced_diploma MARA Institute of Technology Faculty of Electrical Engineering
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
topic	Engineering machinery tools and implements Engineering machinery, tools, and implements Apparatus and materials
spellingShingle	Engineering machinery tools and implements Engineering machinery, tools, and implements Apparatus and materials Ibrahim, Nor Shamsi Balancing a ball on a beam / Nor Shamsi Ibrahim
description	The purpose of this project is to balance a ball on a beam. The control task is to position a steel ball, which rests on the beam (guided by two wires at both side) at the desired point along the length of the beam using a torque or force applied to the beam angle as the control input It is also required that the rotation of the beam and the rolling of the ball to occur without any slipping, which imposes a constraint on the rotational acceleration of the beam. The beam is made to rotate in a vertical plane by applying a torque at the centre rotation and the ball is free to roll (with one degree of freedom) on two nichrome support wires along the beam. The beam angle is adjusted and measured by a precision servo- potentiometer mounted on the pivot axis. The position of the steel ball along the beam is measured using a "Wheatstone Bridge" method, in which the small voltage is generated across the wires is proportional to the position of the ball. Using the approximated transfer function of the plant derived by Wellstead (1993), lead compensator, double lead compensator and proportional plus derivative continuous controller were designed using root locus approach. discrete-time equivalents of the analog controllers were obtained.
format	Thesis
qualification_level	advanced_diploma
author	Ibrahim, Nor Shamsi
author_facet	Ibrahim, Nor Shamsi
author_sort	Ibrahim, Nor Shamsi
title	Balancing a ball on a beam / Nor Shamsi Ibrahim
title_short	Balancing a ball on a beam / Nor Shamsi Ibrahim
title_full	Balancing a ball on a beam / Nor Shamsi Ibrahim
title_fullStr	Balancing a ball on a beam / Nor Shamsi Ibrahim
title_full_unstemmed	Balancing a ball on a beam / Nor Shamsi Ibrahim
title_sort	balancing a ball on a beam / nor shamsi ibrahim
granting_institution	MARA Institute of Technology
granting_department	Faculty of Electrical Engineering
publishDate	1994
url	https://ir.uitm.edu.my/id/eprint/104895/1/104895.pdf
_version_	1818588126341234688

Balancing a ball on a beam / Nor Shamsi Ibrahim

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