The authors in proposed a resistive touch screen technique to determine the position of a ball. Zheng describes in the design of the hardware, the selection of sensors and actuators, the modeling of the system, the identification of the parameters, the design of the controller and experimental tests. Based on the results of the analysis of different controllers, a controller with a switching mechanism is proposed to control the position of the BPS. Awtar and others presented the dynamic properties of the BPS, the mathematical model with the corresponding simplified model and the analysis of the applications of different types of PID controllers.
The BPS was also understood as the two-dimensional movement of the sphere and beam system presented in. An intelligent video system consisting of a CCD camera, an image interface and a program for real-time image processing is used to measure the position of the ball. The control problem of the described system is to keep the freely rolling ball in a certain position on the plate. A servo drive with a controller and two stepper motors was used to tilt the plate. Its inclination can be changed in two orthogonal directions. The system consists of a square plate movably fixed in the center. The article describes the synthesis of a controller for a two-dimensional electromechanical system consisting of the ball and a plate, intended for a study of system dynamics and laboratory experiments with various control methods based on classical and modern control theory. The feedback of the position of a sphere is detected with the help of a camera, as shown in. In the literature, we find several examples of approaches to this topic. Since control of fast unstable systems is very important in a variety of practical applications, a mechatronic learning platform BPS can be a successful tool when used for training in robotics and automation control applications and control methods. The rapid development of BPS applications was noted recently due to the challenges related to control and fast dynamic response, which requires short and fast sensing and immediate correction of the selected controller. University laboratories and experiments play a very important role in successful education in STEM engineering, especially when it comes to robotics and automatic control applications. In both cases, we have a tool for implementing and evaluating experimentally controlled strategies that can be further improved in the future. The overall project development is presented and can be adopted as a guide for replicating the results or as a basis for a new approach to the design of mechatronic learning platforms. Students will be able to apply computer modeling tools, control the system design and achieve software–hardware implementation in real-time while solving the ball position control problem. The author’s goal is to help students learn the control theories of systems in an engineering context through the design and implementation of a simple and low-cost BPS. The authors will continue their research on this BPS mechatronic platform and control algorithms.Įngineering students in STEM need the practical application of theoretical concepts learned in class to master the methods and problems of controlling. An open-source control system based on Python scripts, which allows the use of ready-made functions from the library, allows the color of the ball and the parameters of the PID controller to be changed, indirectly simplifying the control system and performing mathematical calculations directly.
Due to control problems, an advanced block diagram of the control system is proposed and discussed. The low-cost two-degree BPS uses a USB HD camera for computer vision as a feedback sensor and two DC servo motors as actuators. The laboratory prototype BPS for education was designed, manufactured and installed at Karlovac University of Applied Sciences in the Department of Mechanical Engineering, Mechatronics program. Due to the nonlinearity and complexity of BPS, the task presents challenges such as: (1) difficulty in controlling the stabilization of a particular position point, known as steady-state error, (2) position resolution, known as specific distance error, and (3) adverse environmental effects-light-shadow error, which is also discussed in this paper. This paper presents the process of designing, fabricating, assembling, programming and optimizing a prototype nonlinear mechatronic Ball-Plate System (BPS) as a laboratory platform for engineering education STEM.