Ball & Plate System
The ball and plate system is a multi-variable, non-linear control target, which is the 2D extension of ball and beam system. The control target is a plate with 2 mutually perpendicular rotating axes, with the aim of balancing a free rotating ball in a specific position on the plate, or having it rotating in a specific trajectory. The rotation of the plate along X-axis and Y-axis are driven by 2 motors, the vision sensor obtains the position of the ball on the plate and feedback to the control system, certain control strategies are applied to control the board for rotating angles along X-axis and Y-axis by the control system, and thus the balancing position and the motion trajectory of the ball on the plate is achieved.
| Function | Description |
| Main body | DC servo motor driven
Platform dimension: 300mm x 300mm Base dimension: 400mm x 400mm |
| Electric control module | GPB2001 specific |
| Visual module | Image acquisition card (x1) + CCD (x1) |
| Software information | Ball and plate control software
LabVIEW experiment software |
| DC motor rated power | 36W |
| Power | AC 220V 50HZ 3.2A |
| DC brush motor deceleration ratio | 1:10 |
| Diameter of ball | 25mm |
| Image pixel | 768 x 576 |
| Sampling frequency | >25fps |
| Image acquisition card | – Support the acquisition of NTSC, PAL, RS170 and CCIR standard video source
– Dual visual decoder structure allows quick switching of channels – Can be connect and switch with 16 CVBS channels, 8 Y/C or composite input channels – 16-channel TTL I/O auxiliary interface and RS-485 serial interface – Watchdog timer is used to servile the system integrity – Support 32-bit 33/66 MHz PCI bus mode – Software development package includes Matrox Imaging Library (MIL)/ActiveMIL, MIL-Lite/ActiveMIL-Lite – Support Microsof Windows 2000 and WindowsXP OS |
| Dimensions | 525 x 391 x 635 mm |
● Camera Linear and Nonlinear Model Calibration
● System Dynamic Modeling Analysis
● Research and Application of Image Denoising
● Two-dimensional Vision-based Servo Control
● PID Controller and Research of Classical Control Theory
● Custom Algorithm Research
● Stable Control the Ball to the Disc Center
● Stable Control the ball to the Disc Specified Position
● Bring the Ball to the Specified Position Along the Set Track