The algorithm takes an input image of the number plate and after filtering it compare each region with templates and returns string of number plate characters. This is a project done for a master thesis in the electromechanical engineering specialization. Ball on plate using webcam, arduino and simulink step response 1of3 blogger45. The ball and plate is a classic example of inherently unstable, nonlinear and in many cases coupled system. Two rotary servo base units are connected to the sides of the plate using 2 dof gimbals. This matlab function applies the algorithm in a framework for the stabilization of general nonholonomic systems with an application to the plate ball mechanism by giuseppe oriolo and marilena. Iterative feedback control of plateball orientation and. Ball on plate balancing system progress report for ecse4962. Ball on plate control projects electronics engineering. Each motor will be controlled using software, with a minimum. The basic idea is to use the torque generated from motor to the control the position of the ball on the beam. A ball is thrown at angle 45, from initial height 1,5m,with speed 4 ms.
Each tilting axis will be operated on by an electric motor. With the help of the software program with matlab gui the ball can be placed in any static location. Ball and plate arduino linearquadraticgaussian lqg control duration. The apparatus consists of a plate pivoted at its centre so the plate can tilt in two directions. I am doing a project on the concept of automatic number plate recognition anpr using matlab using artificial neural network for ocroptical character recognition. Hi im looking at designing and building a ball on a plate balance system. Simulation was done in matlabsimulink environment, and the simulation results showed that the plate was stabilized at 0. Simulation was done in matlab simulink environment, and the simulation results showed that the plate was stabilized at 0. Among those, the ballandplate system consists in controlling the angular position of a plate with two degrees of freedom pitchroll in order to keep a ball always in the center of the plate in the presence of disturbances. This method places a 2d ball plate in a skewed way on the rotation stage as the calibration reference. And i need to perform image processing and control operations in runtime. Simulation results and discussion the structure of ball and beam system with znpid controller and cdmpid controller in matlab simulink plate form is shown in figs. Calibration of laser scanning system based on a 2d ball plate.
Pdf modeling and control design for the ball and plate system. 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. Mechatronics, it is about the design and control of a ball and plate didactic device. Ball on plate simscape model, control and diagnostics. Below is a few key features that is available in ball tracker. A lever arm is attached to the beam at one end and a servo gear at the other. Ball on plate simscape model, control and diagnostics mathworks. The statespace representation of the ball and beam example is given below. The matlab support package for raspberry pi hardware allows you to capture images from the raspberry pi camera board and bring those right into matlab for processing. 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. Mathworks is the leading developer of mathematical computing software for engineers and scientists.
Learn more about ball playe system, pid controller matlab, simulink, image acquisition toolbox. Originally the ball and plate system is integrated with labview. With the help of the software program with matlab gui the ball can be placed in any static location on the plate with corrections for every disturbance. I need to draw a small animation of the ball moving on the plot. A ball on plate system is the two dimension extension to the ball on beam system. Fuzzy logic algorithm was built according to the system under investigation. And i dont have any idea how to perform image processing in labview, so i want to perfrom all the operations in matlab. Dec 27, 2011 a thin plate under uniform transverse pressure is considered with simply supported and clamped boundary conditions.
Iterative feedback control of plate ball orientation and. Learn more about artificial neural network, lpr, ocr, ann. The 2 dof ball balancer module consists of a plate on which a ball can be placed and is free to move. The system utilizes a webcam, matlabsimulink, an arduino, and two servo motors to balance a balllike object or have it follow a reference. It is a parallel mechanism that consists of a rigid body top plate, or mobile plate, connected to a fixed base plate and is defined by at least three stationary points on the grounded base connected to six independent kinematic legs. Ball and plate pid control with 6 dof stewart platform xpost rgifs. Each motor will be controlled using software, with a.
Should the ball leave the plate entirely, the system will. The ball and beam system is laboratory equipment with high nonlinearity in its dynamics. Using finite element method plate equations are solved. Simulink modeling section, and can be downloaded by rightclicking here and then selecting save link as. Ball and plate model power supply a data acquisition board for your computer camera with usb connection the data acquisition board. The values obtained are compared with standard fem software.
By doing this we are essentially controlling a torque applied at the center of the beam by a motor. Considering the given characteristics the ball and plate system makes an. Ball and plate pid control with 6 dof stewart platform xpost rgifs close. The raspberry pi camera board is a custom designed addon module for raspberry pi hardware. Introduction the objective of the ball and beam experiment is to stabilize the ball to a desired position along the beam.
Apr, 2017 question about ball and plate system model. 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. Before running the matlab code snippet below, get hold of a tennis ball and place it in the view of the raspberry pi camera board. The papers presents an implementation of the predictive state space control algorithm, called model predictive control mpc. The major developments are the structural design and analysis, control system design and analysis, actuators, sensors, prototype assembly, circuitry and programming. The ball receives a step input and the plate will move around 2 axis to return the ball to the home position i. Using this capability we will develop an ball tracking algorithm. We will call this function on the images captured in a loop. Linking feedbacks ball and plate system 33240 with matlab. This is the ball on plate simscape model, control and diagnostics. Mechatronic design of a ballonplate balancing system.
Learn more about scale, simulation, homework, doit4me, duplicate post. Sep 14, 2016 hi im looking at designing and building a ball on a plate balance system. This device is intended to be developed into a commercial device and maybe sold to educational institutes or young apprentices in the field of control systems. Ball and plate state space observer control with position control of pmdc motors duration. Simulation results and discussion the structure of ball and beam system with znpid controller and cdmpid controller in matlabsimulink plate form is shown in figs. I want to draw the trajectory of a flying ball and find where it will fall. The hardware has two servos as inputs and position of the ball as output. Among those, the ball and plate system consists in controlling the angular position of a plate with two degrees of freedom pitchroll in order to keep a ball always in the center of the plate in the presence of disturbances. The stewart platform is a classic example of a mechanical design that is used for position control. Regarding the other two path following square path and circular path the system performed well too with slight oscillations about the intended path. Ball on plate balancing system progress report for. Design and implementation of ball and beam system using.
This paper proposes a pid controller design method for the ball and plate system based on the generalized kalmanyakubovichpopov lemma. Pdf modeling and control design for the ball and plate. The ball position was obtained by a digital camera and the image was processed in matlabsimulink environment. Aug 27, 2014 originally the ball and plate system is integrated with labview. The system for the course project is a ball plate balancer, as shown in figure 1. Before obtaining a step response, we must set the physical parameters. I remember any sort of pid tuning to be extensive in matlab. Design and implementation of ball and beam system using pid. Essentially a ball will rest on a 4 wire resistive plate which will be supported by servo motors. Contains the simscape model and diagnostics for ball on plate. Preprocessing is done using a standard fem software.
We fully discussed the design principle of the ball plate, and presented the optimization fitting model of the ball center coordinates. Ball on plate using webcam, arduino and simulink disturbance rejection 3of3. Humusoft lab experiment support from simulink mathworks. Ball tracker offers a couple of features in which users can experience. Ce151 ball and plate description the ball and plate apparatus shows the problems of the control of an unstable system.
Learn more about simulink, matlab touch screen 4 wire resistive arduino mega 2560 ball plate balance, matlab, touch screen, 4 wire resistive, arduino, mega, 2560, ball, plate, balance, ball plate balance matlab and simulink student suite. The ballonplate balancing system has a camera that captures the ball position and a plate whose inclination angles are limited. This matlab function applies the algorithm in a framework for the stabilization of general nonholonomic systems with an application to the plateball mechanism by giuseppe oriolo and marilena. Considering the given characteristics the ball and plate system makes an excellent. These lab experiments operate from simulink and simulink desktop. A thin plate under uniform transverse pressure is considered with simply supported and clamped boundary conditions. Ball on plate using webcam, arduino and simulink step. Sign up this is a project done for a master thesis in the electromechanical engineering specialization. The system utilizes a webcam, matlab simulink, an arduino, and two servo motors to. I have g 9,81, start height h 1,5m, start speed v 4 ms and angle a 45. While the matlab code is running, move the ball around.
We intend that the initially horizontal plate will be tilted along each of two horizontal axes in order to control the position of the ball. When the ball starts moving, it will roll off the end of the plate if no control action is taken. Make a ball bounce in a scene learn more about bouncing ball, object in scene. The problem of the ball on beam becomes interesting because when the ball begins moving it will roll off the end of the beam if no control action is taken. Introduction the matlab support package for beaglebone black hardware allows you to capture images from the web camera and bring those right into matlab for processing. The ball position was obtained by a digital camera and the image was processed in matlab simulink environment. Ball and plate pid control with 6 dof stewart platform x. Adaptive embedded control for a ball and plate system. The system for the course project is a ballplate balancer, as shown in figure 1. Interactive demonstration of feedback control for a ball and beam system. Modelling and control of ball and beam system using. Equivalent cdm block diagram by comparing the figs.
Licence plate recognition file exchange matlab central. Question about ball and plate system model matlab answers. I want to interfaceintegrate feedbacks ball and plate system with matlab. This file was selected as matlab central pick of the week. Matlab balance a ball on a plate using simulink with a. The ballonplate systems which can be found in literature vary in size, mechanical principles for the plate tilting and the used sensors for measuring plate angles and the ball position. The following matlab project contains the source code and matlab examples used for iterative feedback control of plate ball orientation and position.
May 02, 2011 the ball and plate is a classic example of inherently unstable, nonlinear and in many cases coupled system. With regard to software, torque thresholds could be added to prevent violent behavior under unstable conditions. The tracking software, called ball tracker, is developed as the result of the project. Matlabsimulink are used to 1 measure the balls position through image. Another safety measure is inherent to the operation of the touch screen coordinate system should the ball break contact with the plate, the system returns 0,0 positions. Matlab, solve and drawing ball trajectory stack overflow. Feedback control of a plateball system controls a sphere by rolling without. Fuzzy logic based ball on plate balancing system real time. Plate is dicretized isoparametric four noded q4 elements. As the servo gear turns by an angle theta, the lever changes the angle of the beam by alpha. This allows the user to see the correlation between the plot and the systems physical response.
809 584 1483 833 229 256 370 1582 813 405 97 1008 673 1472 1136 332 228 935 838 985 397 1504 1571 1087 144 405 54 1190 1452 1010 128 379 126 350 1328 556 369 1152 475 997 1320 535 471 336 1024