After experimental, the ball beam balance control in any position can be fulfilled using both of algorithms. Research article fuzzy logic control of a ball on sphere. Nov 14, 2015 i have design fuzzy system to control ball and beam and ive check the rule viewer using fis editor and every thing was okay, but when i connect the controller to the remaining system in simulink the output is stuck at certain value and the simulation stop when the input to the integrator is zero. An improved simple stability condition is derived based on the lyapunovs stability theory. In order to present a fuzzy control method, for a robotic system, one may begin with a fuzzy logic control model. Design and implementation of ball and beam system using pid. Changing the angle of servo motor results in the movement of the beam and, subsequently. However, the controller cannot ensure the good responses in the noisy. The lqr is designed considering two degreesoffreedom and coupling dynamics. One option here is to use modal controls based on the linearized. Takagisugeno fuzzy incremental state model for optimal. Generally, the results so that the adaptive critic.
The values domain limits of the fuzzified variables sdr and sd, determined by geometric means 10 are. Comparative study case for interpolativetype synthetic. A matlabsimulink model of the proposed system has been designed using newtons equations of motion. Fuzzy logic controller is a controller for designing the challenging nonlinear control systems by ifthen laws that is like human intelligence and it increase the accuracy of the control action. This paper present a success control function using a fuzzy system approach which is to control the ballbeam balance system, throughout modeling, simulation, and implementation. Pdf adaptive fuzzy dynamic surface control for ball and. Stabilization ball and beam by fuzzy logic control strategy. Design of a fuzzy controller for stabilizing a ballandbeam system h. Modelling and control of ball and beam system using pid. Fuzzy pid control sets are designed based on previous experience and knowledge reasoning. The aims of this research are to model the ball and beam system considering nonlinear factors and coupling effect and to design controllers to control the ball position. The nxp development platform lcp1768 works as an acquisition and a signal c. When the angle is changed from the horizontal position. Fuzzy slidingmode control for ball and beam system with.
Mamdani method is considerably capable of extracting expert information. Adaptive embedded control for a ball and plate system. The ball and beam balance is a safe way to investigate control design for unstable systems. Jul 25, 2016 the ball and beam system constitutes a classic control system problem. Pdf modelling and fuzzy control of ball and beam system. Hence, we can conclude that the fuzzy control system is stable. The ball and beam is a basic reference point system with high nonlinearity and unstable system in its dynamics. This ball and beam is widely illustrated on engineering textbooks because of its and complicity.
The ball balancer, or cart ball system, demonstrates some basic concepts in control, being nonlinear, multivariable, and nonminimum phase. The first one, a fuzzy logic controller has been developed with the help of simulink and. Request pdf fuzzy logic control for a ball and beam system this paper presents the design of a pid controller and two different fuzzy logic controllers of mamdani and sugenoto control the non. Design and implementation of ball and beam system using. A fuzzy control is used to attempt to hold the ball in a specific position by tilting the beam, even when the position of the ball is modified by external influences. The design of the nonlinear system controller is an important issue in the effective control of the position of theball. Fuzzy methods and microcontrollers have gained greatly in importance in automation over recent years.
A fuzzy selftuning pid controller and a bp neural network pid controller are designed for ball balance stable control. The resulting fuzzy control systems have the guaranteed stability and the desired performance. Pdf fuzzy logic controller flc is an attractive alternative to existing classical or modern controllers for designing the challenging nonlinear. The ball position p, the objective system output, would be measured by a camera. The design of a fuzzy cascade controller for ball and beam. Application of fuzzy logic to the well known ball on beam motion control problem is reported. Modelling and fuzzy control of ball and beam system.
The lyapunov theorem was further used to analyse the close loop stability of the system. Control difuso ball and beam fuzzy control youtube. Jan, 2012 fuzzy logic controller is a controller for designing the challenging nonlinear control systems by ifthen laws that is like human intelligence and it increase the accuracy of the control action. A ball beam model acts as a mechanical singlevariable system. First, we will study the response of the system shown above when a proportional controller is used. A fuzzy control system of io is guaranteed to be stable if we choose the membership 522 authorized licensed use limited to.
Control of a ball and beam system using fuzzy logic. This ball and beam is widely illustrated on engineering textbooks because of its and complicity tangibility to evaluate the performances the stable ability of different controllers. First, with the proper defined tracking errors of state variables, an integrating of tracking errors is considered as the fuzzy input. This paper presents the stability analysis and design of a fuzzy controller for a nonlinear ballandbeam system. Fuzzy methods are particularly suitable for systems that mathematics cannot describe adequately or easily. Design of a fuzzy controller for stabilizing a ballandbeam. Furthermore, some intelligent controllers for ball and beam can also be found, such as fuzzy control 3, sliding mode control 4, neural control 5, etc.
Position control for ball and beam system based on active. Fuzzy saturating control of a ball and beam system. Combined with the conventional dynamic surface control, an adaptive fuzzy scheme is proposed for the equilibrium balance of the ball. Pdf fuzzy logic control of ball and beam system researchgate. Fuzzy logic control for a ball and beam system request pdf. The rt 121 provides an introduction to fast, digital realtime control by fuzzy methods. Index termsball and beam system, adaptive fuzzy logic controller. Ballbeamsimulinkmodel ball beam pivot point gear ball tracking point lever arm figure6. Control the balance and the motion of the ball on beam theis always the challenges for either conventional or intelligent control strategies. The ball and beam system is a highly nonlinear and open loop unstable system. The parameters of fuzzy controller can be optimized by. A ballbeam model acts as a mechanical singlevariable system. A lever arm is attached to the beam at one end and a servo gear at the other.
This information is analysed on the myrios embedded processor and an appropriate control algorithm is run to provide feedback to the system. The ball and beam system constitutes a classic control system problem. Adaptive fuzzy pid for the control of ball and beam system. In this paper, sensory acquisition and control of the ball. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam.
A fuzzy pid controller is designed for the ball and beam system in this paper. Pid control has been mostly used for stabilizing the same. Fuzzy pd cascade controller design for ball and beam system. The ball and beam system is open loop unstable since for a given constant angle of tilt on the beam, the balls position changes without limit. It is basically an inverted pendulum problem, which is a much used benchmark problem. This study investigates the control performances of a pid, a mamdani fuzzy logic, and a sugeno fuzzy logic to control the motion of. This paper describes the design of a few types of controller for ball and beam system that consist of conventional controller, modern controller and intelligent. Design of ballbeam control system based on machine vision. Apr 04, 2017 implementation of a pid controller for a ball and beam system, running in matlab. Pdf fuzzy logic control for a ball and beam system i. A ball beam mechanism is found to be highly unstable system.
In this paper, a complete physical system and controller design is. The authors optimised parameters of fuzzy controllers using proposed approach. The linearized augmented state space model can be estimated online by using stf. Finally, the value of pointer position is input into ball beam system as an expected ball balance position. This nonlinear dynamic plant is often considered when developing various control strategies. Finally, the value of pointer position is input into ballbeam system as an expected ball balance position. Introduction control of a ball and beam system is one of. This paper presents an offline control of ball and beam system using fuzzy logic. The main ideas of the paper are to model the ball and beam system considering nonlinear factors and coupling effect and to design proportional integral derivative pid controller to control the ball position. We describe the use of ant colony optimization aco for the ball and beam control problem, in particular for the problem of tuning a fuzzy controller of the sugeno type. Fuzzymodal control for the ball and beam system matec web of. Nonetheless, a new control method for the nonlinear complexity of the ball during motion is necessary to subsequently realize highprecision control of the ball and beam system. Fuzzy motion control of the ball on beam semantic scholar. Application of fuzzy logic to the well known ball on beam motion control problem is.
Pdf fuzzy logic control for a ball and beam system i journal. The sufficient stability condition of the fuzzy control system is summarized by the following lemma. May 27, 2016 modelling and control of ball and beam system using pid controller abstract. This paper present a success control function using a fuzzy system approach which is to control the ball beam balance system, throughout modeling, simulation, and implementation. Yu 8 uses pd controller to control a nonlinear ball and beam system model.
An object model is established and transfer function is also obtained. This paper presents the design of a pid controller and two different fuzzy logic controllers of mamdani and sugeno to control the nonlinear model of a ball rolling on a beam using matlab and malab simulink. For the defects of stability error, oscillating and slowness in system. The objective is to control ball position and beam orientation using fuzzy controllers. Pdf on aug 1, 2018, abdulbasid ismail isa and others published modelling and fuzzy control of ball and beam system find, read and cite. However, the controller cannot ensure the good responses in the noisy environment.
Its optimizing control processes can contribute to the research of other nonlinear systems. Based on the ts fuzzy modeling, the dynamic model of the ball and beam system is formulated as a strict feedback form. A 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. In our project, weve developed two controllers to stabilize the system. Adaptive fuzzy pid for the control of ball and beam system ijert. Fuzzy pid control for ball and beam mechanism springerlink. Ball and beam, pid controller, fuzzy logic control, stability. Position control of a ball beam experimental setup based on sliding mode controller. Fuzzy logic controller flc is an attractive alternative to existing classical or modern controllers for designing the challenging nonlinear control systems as it provides a heuristically method by ifthen rules which resembles human intelligence. The design of fuzzy slidingmode controllers for the ball and beam system is discussed in section 3. Ball on beam experiment, fuzzy control 1 introduction. Request pdf fuzzy logic control for a ball and beam system this paper presents the design of a pid controller and two different fuzzy logic controllers.
Control of a ball and beam system university of adelaide. Therefore, some form of feedback loop must be used to control the balls position. Finally, advantages and disadvantages of each control strategies are concluded. In section 2, the mathematical model of the ball and beam system is presented.
However, tuning of pid controller gains is a difficult issue. This paper mainly investigates the control for the ball and beam system. After experimental, the ballbeam balance control in any position can be fulfilled using both of algorithms. These include, in particular, multivariable systems, and nonlinear or timevariant systems. Jan 22, 2015 fuzzy control in ball and beam system. It has a very important property, it is open loop unstable. However, most of these control methods work only if the sampling period of the control system is small, which strongly requires high speed processing hardware including sensor and microcontroller. As the servo gear turns by an angle, the lever changes the angle of the beam by. This system utilizes a servo motor to control balls position on the beam. The system includes a ball, a beam, a motor and several sensors. Mathematical modeling, simulation and control of ball and. Pdf on aug 1, 2018, abdulbasid ismail isa and others published modelling and fuzzy control of ball and beam system find, read and cite all the research you need on researchgate. The basic idea is to use the torque generated from motor to control the position of the ball on the beam.
The ball and beam system is a laboratory equipment with high nonlinearity in its dynamics. The block diagram for this example with a controller and unity feedback of the ball s position is shown below. Tuning of a pid controller for optimal performance of ball. Many simple and present day control methods have been used to balance the ball and beam system. In this work, attempt has been made to develop a fuzzy modelbased ball and beam mechanism. Also, the selection conditions for the controller parameters are derived to preserve the system stability. Among the interesting challenges of such a system is the indirect control of the ball using the angles of the plate. Home proceedings volume 8349 proceedings volume 8349. Fuzzy logic, matlab, simulink, ball and beam system, pid, mamdani. The scheme used the takagisugeno ts model, and many parameters had to be tuned.
In this paper, an observerbased robust adaptive fuzzy backstepping control is provided for a ball and beam system while accessible state variables of the system are position and angle of the. Ball and beam system is a typical nonlinear and instable system, being a safe experimental platform of automatic control, it is an ideal tool for verifying and developing various advanced control algorithms. Design of a fuzzy controller for stabilizing a balland. Gravitational search algorithmbased fuzzy control for a.
The block diagram for this example with a controller and unity feedback of the balls position is shown below. Joo and lee 1999 applied a hierarchical fuzzy control scheme for the ball and beam system to reduce the number of fuzzy rules. In this work, attempt has been made to develop a fuzzy modelbased ball. By employing linear sensing techniques, the information from the sensor can be taken and. Citeseerx document details isaac councill, lee giles, pradeep teregowda. Fuzzy controllers are commonly divided into sugeno and mamdani categories. This paper presents the design and analysis of a flc for the outer loop and a pd controller for the inner. Sabahat 2005 analysed methods to control a ball balancing system via fuzzy logic. Lmi lyapunov based ts fuzzy modeling and controller synthesis for a nonlinear ball and beam system proceedings of iser 4 th international conference, bangkok, thailand, 16 august 2015, isbn. Comparison results indicate clearly superior performance of the fuzzy controller to that of the traditional pid controller. Over the past decade, we have witnessed a rapidly growing interest in fuzzy control of nonlinear systems, and many successful applications have been reported wu and cai, 2007 with anticipation that such a technology could be efficiently utilized in numerous challenging control problems. The ball and beam system can usually be found in most university control labs since it is relatively easy to build, model and control theoretically. Pdf control of ball and beam system using fuzzy pid. Acotuning of a fuzzy controller for the ball and beam.
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