Design of a system for positioning of a ball on a flat surface

Avtomatsko krmiljenje in nadziranje sistemov je vse bolj razširjeno in pomembno v sodobni industriji. Dober primer krmilnega sistema je krmiljenje položaja krogle na ravni podlagi. Samo gibanje krogle po nagibajoči ravni podlagi je nestabilno, če dodamo povratno zanko in krmilno vezje, pa sistem lahko stabiliziramo. Za upravljanje nagibanja podlage smo izdelali mehanski sistem s tremi aktuatorji, za zaznavo položaja krogle pa uporabili dotični zaslon. Uspešno krmiljenje dosežemo z uporabo PID krmilnega algoritma, ki smo ga implementirali na razvojni plošči Arduino DUE. Naš sistem smo matematično modelirali, izdelali blokovni diagram in ga primerjali s fizičnim sistemom. Z uporabo programske opreme MATLAB in blokovno shemo smo določili parametre krmilnika. Dosegli smo, da tudi s poenostavljenim modelom lahko pridobimo parametre, ki ustvarijo stabilen sistem. V delu so prav tako prikazani odzivi sistema za različne parametre PID krmilnika in odzivi na različne vhodne signale.Automatic control and monitoring of systems is increasingly widespread and important in modern industrial environment. A good example of a control system is the control of the position of a ball on a flat surface. The movement of the ball on a tilting flat surface alone is unstable, but adding a feedback loop and a control circuit can stabilise the system. A mechanical system with three actuators was designed to control the tilt of the surface, and a touch panel was used to detect the position of the ball. For successful control, we used a PID control algorithm implemented on the Arduino DUE development board. We have mathematically modelled our system, created a block diagram and compared it with a physical system. Using MATLAB software and a block diagram, the controller parameters were determined. We have shown that even with a simplified model, we can obtain parameters that result in a stable system. The work also shows the system responses for different PID controller parameters and the responses to different input signals