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Checked A - Novel - Ball - On - Beam - Stabilizing - Platform - With - Inertial - Sensors
Checked A - Novel - Ball - On - Beam - Stabilizing - Platform - With - Inertial - Sensors
Abstract—This research paper presents dynamic modeling of Our work presents geometrically accurate, nonlinear and
inertial sensor based one degree of freedom (1-DoF) stabilizing detailed modeling which has not been presented in literature.
platform. Plant is a ball on a pivoted beam. Nonlinear modeling Moreover concept of using inertial sensors i.e. rate gyro and
of the plant is done. Ball position on beam is actuated by DC accelerometer to measure systems states, is novel and it makes
motor using two arms and one beam structure. Arms and beam our system much closer to real stabilizing platforms in sea
are linked by pivoted joints. Nonlinear geometrical relations for ships and aircraft. In this paper a nonlinear system model is
mechanical structure are derived followed by physically developed followed by linearization and state space
realizable approximations. These relations are used in system conversion. Various systems parameters are identified and their
dynamic equations followed by linearization, resulting in a linear
effects on systems dynamics are elucidated. Linear and
continuous time differential equation model. State space
conversion is done. Final model is simulation and system
nonlinear relations are compared and error due to linearization
dynamics are elaborated by analysis of the simulation responses has been analyzed. Open loop linearized dynamics are
simulated and discussed.
Keywords—stabilizing platform; ball on beam; nonlinear Organization of the paper is as follows, section-II describes
dynamics; inertial sensors the design and construction of physical hardware. Section-III
I. INTRODUCTION comprises of derivation of system dynamics, nonlinear
geometric relations governing the physical hardware,
Stabilizing platforms are among challenging control linearization and state-space conversion. Section-IV presents
systems. Their applications are immense, especially in defense simulation results followed by section-V describing
such as camera stabilizations for drones and automatic gun conclusions and future work.
pointing angle control. Such plate forms have been benchmarks
to practice various control techniques. Owing to such II. HARDWARE DESIGN
significance a lot of research work has been dedicated to these Hardware platform is shown in Figure 1. Functional
systems. One of such systems is single degree of freedom (1- description for this plant is described diagrammatically in
DoF) ball on beam mechanism. Plant of this control problem Figure 2. Plant consists of a beam of length 2b hinged at its
consists of a ball capable of rolling on a beam under the action
of gravity due to inclination of beam. Control objective is to centre at the pivot point O . A ball is placed on this beam. Ball
2
stabilize the positions of the ball on the beam in the presence of is capable of rolling freely. Its distance D from edge of the
external disturbances and to achieve ball position reference beam is to be controlled. Position of the ball changes under the
tracking. System is open loop unstable so feedback is action of gravity if the beam is inclines at some angle , which
inevitable [1]. may be positive or negative. Inclination of beam is actuated by
a DC gear motor which is connected to the beam by a servo
This research is presented in two parts. Part-I presents arm and a link arm. DC gear motor is bidirectional and actuates
modeling of the system. Dynamics of this plant has been
derived and discussed in literature. Reduced order linear the servo arm at an angle . Servo arm rotates about point O1 ,
transfer function based model is used in [1], [2] and [4]. which is also taken to be the origin of rectangular coordinate
Similar technique has been employed in [3]. Variational system used to model the system. Link arm is pivoted at points
techniques have been employed in [5]. However full order P2 and P1 , these pivot points track a circular trajectory in
model without neglecting actuator dynamics and structural
nonlinearities is not studied. response to angle as shown by dashed circular trajectories in
the Figure 2.
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(IJACSA) International Journal of Advanced Computer Science and Applications,
Vol. 6, No. 8, 2015
dia
ea em Ra ia La
dt
d
em k m
dt
Substituting equation (2) in equation (1) we get:
d dia
ea km
Ra ia La
dt dt
Mechanical part of the motor consists of the rotating
armature with its end coupled to the servo arm and the link
arm. Armature is modelled by a cylindrical moment of inertia
J experiencing a friction B as shown in Figure 3. Since
R R
motor output shaft is coupled to servo arm and link arm so net
moment of inertia is J 1 given by equation (4),
Control objective is to stabilize the ball at any desired In Equation (4), J S and J L are moment of inertia of the
position D or to make it track a commanded position trajectory servo arm and the link arm respectively. Using Euler’s
D (t) by adjusting bounded servo angle in the presence of equations for mechanical rotation part of motor we obtain,
disturbances.
d d
2
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2
position of link arm. We may also write it as L or
2
PP
1 2
f ( a , b, L , , ) 0
Equation (11) can easily be verified by checking physically
realizable trivial solution of f (a, b, L, 0, ) or b cos bL sin
2
1 1
JL mL l mL L mL a
2 2 2
a 2 ab( 1)
2 2
12 3
J2
1
12
m (2b)
B
2
mS p
2
cos tan
1
a 2
ab( 1) a 2 bL
2( 1) 1
cos 1
tan 1 2( 1)
1 2( 1) 2
An approximate linear relation can be found between θ and
ϕ if we restrain both θ and ϕ in range 0.1 , 0.1 . In this case
Equation (11) becomes:
a
.
Fig. 5. Geometrical description of the hardware platform L
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20
18
16
L=1.5a
14
L=a
|%Error|
12
10
L=0.5a
8 5% Error Bound
Fig. 7. Electrical and mechanical modeling diagram of PMDC motor
6
4
L=0
2
o
min o max Using Equation (18) in Equation (19) we get:
0
-15 -10 -5 0 5 10 15 a (1 cos )
sin
1
o
2 L
Fig. 6. % error between linear and nonlinear relation for ϕ Using Equation (20) in Equation (17) we get the desired
expression for FL as:
D. Torque and force decomposition for the Servo-arm and the
link-arm 1 a (1 cos )
cos sin
1
FL FS cos
2 bFL bFL sin( )
2 The unknown angle λ needs to be expressed in terms of
In equation (17) the unknown angle η needs to be expressed input angle ϕ. From Figure 8 we have,
in terms of known angle ϕ. Using law of sine in right P1 A2 P2
in Figure 5 we get,
2
a (1 cos ) Using equations (16)-(20) in equation (23) we get,
sin
1
L a (1 cos ) a
1
sin
In right O1 B1 P1 in Figure 5 we have, 2 L L
Substituting equation (24) in (22) we get,
2 bFL sin
sin 1 a(1 cos ) a
2
2 L L
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(IJACSA) International Journal of Advanced Computer Science and Applications,
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2
d D dD
m 2
mg B
dt dt
G. State space description of the system
Four differential equations (32) describe the overall system
dynamics. Using Equation (3) and (31) we get:
dia Ra k m d 1
ia ea
dt La La dt La
2
d D B dD
2
g
dt m dt
Using equations (27) and equation (6) in (28) and (5) we
get:
d BR d
2
k
2
ia
dt J1 J 1 dt
d B2 d
2
k b
Fig. 8. Torque and force decomposition for the Link-arm and the beam
2
ia
dt aJ 2 J 2 dt
Using equation (21) in equation (25) we get,
Table 1 describes state variable assignment for equation (32
1 a (1 cos ) , 32 ). Using these definitions we get following state
2 b cos sin
1
space equations (33 , 32 ).
a L
sin sin
1 a (1 cos ) a
x1 D x2
2 L L B
It is also worth noting that for small ϕ and a=L equation x2 D gx3 x2
(26) becomes: m
x3 x4
b
2 0.1 ,0.1 ,a L 1 k b B2
a x4 x7 x4
aJ 2 J2
F. Dynamics of motion of the ball and the beam
Beam experiences a torque 2 given by equations (26) and x5 x 6
(27). k BR
x6 x7 x6
Using Euler’s Law we get beam dynamics from Figure 8 J1 J1
as,
Ra km 1
d
2
d x 7 ia x7 x6 ea
J2 2
2 B2 La La La
dt dt
Although we are primarily interested in stabilizing the
Dynamics of the ball are given by Newton’s Law,
position of the ball x1 but to get a good control of stabilizing
2
d D platform i.e. beam in this case, others state variables are also
m 2
Fg Ff measures and designated as outputs. From table 1 we have
dt defined following output variables,
Substituting the values of frictional force Ff and component
of gravitational force parallel to beam Fg in equation (29) we y1 k D x1
get, y2 k x3
2
d D dD y3 k x5
m mg sin B
dt
2
dt y 4 k i x7
For θ and ϕ in range [0.1 , 0.1 ] equation (30) becomes, The state space equations (33)-(34) can be put into matrix
form resulting in the state space quadruple given by,
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0 1 0 0 0 0 0
0 B / m g 0 0 0 0
0 0 0 1 0 0 0
A 0 0 0 B2 / J 2 0 0 2 k / J 2 ,
0 0 0 0 0 1 0
0 0 0 0 0 BR / J1 k / J1
0
0 0 0 0 km / La Ra / La
B [0 0 0 0 0 0 1] , T
kD 0 0 0 0 0 0
0 0 k 0 0 0 0
C 0 0 0 kd / dt 0 0 0 ,
0 0 0 0 k 0 0 Fig. 9. Unit step response of ball position D
0 0 0 0 0 0 ki
D 0 0 0 0 0
T
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Fig. 12. Unit step response of servo arm angle ϕ Fig. 13. Unit step response of armature current ia(t)
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