When the angle is changed from the horizontal position, gravity causes the ball to roll along the beam. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. A lever arm is attached to the beam at one end and a servo gear at the other. The position of the ball is measured by a distance sensor mounted at the end of the beam.Ī PID controller is used to control the position of the ball on the beam.Ī ball is placed on a beam, see figure below, where it is allowed to roll with 1 degree of freedom along the length of the beam.
The pitch is controlled by a servo that is connected to an Arduino. The assignment was to construct a ball and beam control system.Ī ping pong ball sits on top of the beam rolling forward and backward according to the pitch of the beam. The BallandBeam project was developed at the National Institue in Applied Science and Technology (INSAT) on Spring 2019. PID control on Arduino with LabView to stabilize a ball on a beam.
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