Ball and Beam Apparatus
Model Number: CE106
Investigate unstable-system control with hands-on experiments in angle, velocity and position control.
Overview
A compact self-contained bench mounting apparatus designed to allow students at all academic levels to investigate basic and advanced principles of control including control of naturally unstable systems.
The Ball and Beam Apparatus shows the control problems of unstable systems, for example a rocket or missile during launch, which needs active control to prevent the missile going unstable and toppling over.
The apparatus has a steel ball which is free to roll on two parallel tensioned wires. The wires are on a beam that pivots at its centre. A servo motor controls the beam angle and sensors measure the beam angle and ball position. The basic control problem is to vary the beam angle to control the ball position. The system is a double integrator, so it is naturally unstable. It needs active feedback control using phase-advance methods.
Features
- Self-contained, compact benchtop unit
- Mimics a real unstable-system control problem, such as missile or rocket take-off
- Highly visual apparatus with moving ball and front-panel mimic diagram
- Buffered inputs and outputs for connection to optional TecQuipment controllers or other suitable controllers
- Suitable for basic and advanced experiments in angle, velocity and position control
Specifications
- Bench-mounting, self-contained apparatus
- Steel ball free to roll on two parallel tensioned wires
- Beam pivots at its centre
- Servo motor controls beam angle
- Sensors measure beam angle and ball position
- System type: double integrator, naturally unstable
- Controller compatibility: suitable controller with ±10 V inputs and outputs
Learning Outcomes
- Measurement of system dynamics by transient and closed-loop methods
- Design of analogue phase-advance compensators
- Design of state reconstructors to estimate ball velocity and position
Add On Products
Items Included
- Ball and beam apparatus benchtop unit
- Steel ball
- Centre-pivoted beam with two parallel tensioned wires
- Servo motor for beam-angle control
- Sensors for beam angle and ball position
- Front-panel mimic diagram of the process
Requirements
- Requires one of the following: Controller (CE120), Digital Interface (CE122), or another suitable controller with ±10 V inputs and outputs
- A suitable computer is required when using the Digital Interface (CE122)