Construção de uma plataforma experimental ball and beam para o ensino de controle automático

Abstract

This work has the objective of modeling, construction and development of an experimental platform of the classic Ball and Beam system, being of low cost and easy replication, for the use and development of practical activities in the control laboratory of the Federal Technological University of Paraná. The system is non-linear and unstable in open loop and consists of a beam having one end fixed with an infrared sensor that measures the distance of the ball and at the other end an axis that relates to a DC motor, which will control the angle of inclination of the beam, its ascent and descent. In this beam, a ball slide easily over it. We have, therefore, the problem of control: the balance of the ball in a predefined position. Concepts and modeling of the system are presented, in addition to the materials and methods that were used for the construction of the platform, the advances in the construction of the prototype and its finalization. Finally, a balance of studies with the difficulties and improvements to work.