Journal of Innovative Science and Engineering
Research Article
PDF EndNote BibTex RIS Cite

Image-Based Control of 2-DOF Ball Balancing System

Year 2022, Volume: 6 Issue: 2, 160 - 174, 31.12.2022

Hüseyin Can GÜRSOY Nurettin Gökhan ADAR

https://doi.org/10.38088/jise.1091154

Abstract

In this study, the Ball-Plate stabilization system is designed to control with image processing algorithms. The position of the ball is aimed to control by tilting the plate on which the ball is located at a certain position and velocity. The system has two rotational degrees of freedom and is unstable. In the system, two DC motors are used as an actuator, and a camera is used as a feedback sensor. The camera captures the position of the ball and image processing algorithm calculates the that position to blance the plate..PID control is selected for servo motors. Thus, the position of the ball can be controlled so that it converges to the desired point on the plate. Real-time tests are conducted, and Maximum Overshoot and Steady State Error are calculated for both the x and y-axis, and results are given in figures. For the setpoint (15 cm, 15 cm) the Maximum Overshoot and Steady State Error were measured at 40.6% - 8% on the x-axis and 48.6% - 8.6% on the y-axis, while for the setpoint (10 cm, 10 cm) The Maximum Overshoot and Steady State Error were measured at 40.6% - 8% on the x-axis and 48.6% - 8.6% on the y axis.

Keywords

Ball&Plate, PID Control, Image Processing

References

  • [1] Kocaoğlu, S. (2013). Pıd Kontrollü Top Çubuk Sisteminin Tasarımı ve Kontrolü Üzerine Bir Araştırma.
  • [2] Awtar, S., Bernard, C., Boklund, N., Master, A., Ueda, D., Craig K. (2002). Mechatronic Design Of A Ball-On-Plate Balancing System. Mechatronics, 12(2), 217-228 p.
  • [3] Brezina, A., Tkacik, M., Tkacik, T., Jadlovska S. (2019). Upgrade of the Ball and Plate Laboratory Model. IFAC-PapersOnLine, 52(27), 277-282 p.
  • [4] Itani, A. (2017). Ball Plate Balancing System Using Image Processing.
  • [5] Chi-Cheng, C., Tsai, C. (2016). Visual Servo Control for Balancing a Ball-Plate System. International Journal of Mechanical Engineering and Robotics Research, 5(1).
  • [6] Ho, M., Rizal, Y., Chu, L. (2013). Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation. International Journal of Advanced Robotic Systems, 10(7).
  • [7] Taifour, A., Ahmed, A., Almahdi, H., Osama, A., Naseraldeen, A. (2017). Design and Implementation of Ball and Beam System Using PID Controller. Automatic Control and Information Sciences, 3(1), 1-4 p.
  • [8] Chen, Z., Gao F.,Sun, Q., Tian, Y., Liu, J., Zhao, Y. (2019). Ball-on-plate motion planning for six-parallel-legged robots walking on irregular terrains using pure haptic information. Mechanism and Machine Theory, Volume 141, 136-150 p.
  • [9] Fabregas, E., Chacón, J., Dormido-Canto, S., Farias, S., Dormido G. (2015). Virtual Laboratory of the Ball and Plate System. IFAC-PapersOnLine, 48(29), 152-157 p.
  • [10] Park, J., Lee, Y. (2003). Robust Visual Servoing For Motion Control Of The Ball On A Plate. Mechatronics, 13(7), 723-738 p.
  • [11] Fan, X., Zhang, N., Teng, S. (2004). Trajectory Planning And Tracking Of Ball And Plate System Using Hierarchical Fuzzy Control Scheme. Fuzzy Sets and Systems, 144(2), 297-312p.
  • [12] Kassem, A., Haddad, H., Albıtar, C. (2015). Comparison Between Different Methods of Control of Ball and Plate System with 6DOF Stewart Platform. IFAC-PapersOnLine, 48(11), 47-52 p.
  • [13] Gözde, H. (2019). Evolutionary Computation Based Control For Ball And Plate Stabilization System. Balkan Journal Of Electrıcal & Computer Engıneerıng, 7(1), 45-46 p.
  • [14] Kuo, B. (1999). Otomatik Kontrol Sistemleri, Litaratür, 7th edition, 88-90 p. ISBN:975-8431-64-1.

Year 2022, Volume: 6 Issue: 2, 160 - 174, 31.12.2022

Hüseyin Can GÜRSOY Nurettin Gökhan ADAR

https://doi.org/10.38088/jise.1091154

Abstract

References

  • [1] Kocaoğlu, S. (2013). Pıd Kontrollü Top Çubuk Sisteminin Tasarımı ve Kontrolü Üzerine Bir Araştırma.
  • [2] Awtar, S., Bernard, C., Boklund, N., Master, A., Ueda, D., Craig K. (2002). Mechatronic Design Of A Ball-On-Plate Balancing System. Mechatronics, 12(2), 217-228 p.
  • [3] Brezina, A., Tkacik, M., Tkacik, T., Jadlovska S. (2019). Upgrade of the Ball and Plate Laboratory Model. IFAC-PapersOnLine, 52(27), 277-282 p.
  • [4] Itani, A. (2017). Ball Plate Balancing System Using Image Processing.
  • [5] Chi-Cheng, C., Tsai, C. (2016). Visual Servo Control for Balancing a Ball-Plate System. International Journal of Mechanical Engineering and Robotics Research, 5(1).
  • [6] Ho, M., Rizal, Y., Chu, L. (2013). Visual Servoing Tracking Control of a Ball and Plate System: Design, Implementation and Experimental Validation. International Journal of Advanced Robotic Systems, 10(7).
  • [7] Taifour, A., Ahmed, A., Almahdi, H., Osama, A., Naseraldeen, A. (2017). Design and Implementation of Ball and Beam System Using PID Controller. Automatic Control and Information Sciences, 3(1), 1-4 p.
  • [8] Chen, Z., Gao F.,Sun, Q., Tian, Y., Liu, J., Zhao, Y. (2019). Ball-on-plate motion planning for six-parallel-legged robots walking on irregular terrains using pure haptic information. Mechanism and Machine Theory, Volume 141, 136-150 p.
  • [9] Fabregas, E., Chacón, J., Dormido-Canto, S., Farias, S., Dormido G. (2015). Virtual Laboratory of the Ball and Plate System. IFAC-PapersOnLine, 48(29), 152-157 p.
  • [10] Park, J., Lee, Y. (2003). Robust Visual Servoing For Motion Control Of The Ball On A Plate. Mechatronics, 13(7), 723-738 p.
  • [11] Fan, X., Zhang, N., Teng, S. (2004). Trajectory Planning And Tracking Of Ball And Plate System Using Hierarchical Fuzzy Control Scheme. Fuzzy Sets and Systems, 144(2), 297-312p.
  • [12] Kassem, A., Haddad, H., Albıtar, C. (2015). Comparison Between Different Methods of Control of Ball and Plate System with 6DOF Stewart Platform. IFAC-PapersOnLine, 48(11), 47-52 p.
  • [13] Gözde, H. (2019). Evolutionary Computation Based Control For Ball And Plate Stabilization System. Balkan Journal Of Electrıcal & Computer Engıneerıng, 7(1), 45-46 p.
  • [14] Kuo, B. (1999). Otomatik Kontrol Sistemleri, Litaratür, 7th edition, 88-90 p. ISBN:975-8431-64-1.

Details

Primary Language English
Subjects Engineering
Journal Section Research Articles
Authors

Hüseyin Can GÜRSOY
It is not affiliated with an institution
0000-0003-2709-4345
Türkiye

Nurettin Gökhan ADAR
BURSA TECHNICAL UNIVERSITY
0000-0001-6888-5755
Türkiye

Early Pub Date October 11, 2022
Publication Date December 31, 2022
Published in Issue Year 2022Volume: 6 Issue: 2

Cite

Bibtex @research article { jise1091154, journal = {Journal of Innovative Science and Engineering}, eissn = {2602-4217}, address = {ursa Technical University, Mimar Sinan Campus, Mimar Sinan Mah. Mimar Sinan Blv. Eflak Cad. No:177 16310 Yıldırım, Bursa / Turkey}, publisher = {Bursa Technical University}, year = {2022}, volume = {6}, number = {2}, pages = {160 - 174}, doi = {10.38088/jise.1091154}, title = {Image-Based Control of 2-DOF Ball Balancing System}, key = {cite}, author = {Gürsoy, Hüseyin Can and Adar, Nurettin Gökhan} }
APA Gürsoy, H. C. & Adar, N. G. (2022). Image-Based Control of 2-DOF Ball Balancing System . Journal of Innovative Science and Engineering , 6 (2) , 160-174 . DOI: 10.38088/jise.1091154
MLA Gürsoy, H. C. , Adar, N. G. "Image-Based Control of 2-DOF Ball Balancing System" . Journal of Innovative Science and Engineering 6 (2022 ): 160-174 <http://jise.btu.edu.tr/en/pub/issue/72956/1091154>
Chicago Gürsoy, H. C. , Adar, N. G. "Image-Based Control of 2-DOF Ball Balancing System". Journal of Innovative Science and Engineering 6 (2022 ): 160-174
RIS TY - JOUR T1 - Image-Based Control of 2-DOF Ball Balancing System AU - Hüseyin CanGürsoy, Nurettin GökhanAdar Y1 - 2022 PY - 2022 N1 - doi: 10.38088/jise.1091154 DO - 10.38088/jise.1091154 T2 - Journal of Innovative Science and Engineering JF - Journal JO - JOR SP - 160 EP - 174 VL - 6 IS - 2 SN - -2602-4217 M3 - doi: 10.38088/jise.1091154 UR - https://doi.org/10.38088/jise.1091154 Y2 - 2022 ER -
EndNote %0 Journal of Innovative Science and Engineering Image-Based Control of 2-DOF Ball Balancing System %A Hüseyin Can Gürsoy , Nurettin Gökhan Adar %T Image-Based Control of 2-DOF Ball Balancing System %D 2022 %J Journal of Innovative Science and Engineering %P -2602-4217 %V 6 %N 2 %R doi: 10.38088/jise.1091154 %U 10.38088/jise.1091154
ISNAD Gürsoy, Hüseyin Can , Adar, Nurettin Gökhan . "Image-Based Control of 2-DOF Ball Balancing System". Journal of Innovative Science and Engineering 6 / 2 (December 2022): 160-174 . https://doi.org/10.38088/jise.1091154
AMA Gürsoy H. C. , Adar N. G. Image-Based Control of 2-DOF Ball Balancing System. JISE. 2022; 6(2): 160-174.
Vancouver Gürsoy H. C. , Adar N. G. Image-Based Control of 2-DOF Ball Balancing System. Journal of Innovative Science and Engineering. 2022; 6(2): 160-174.
IEEE H. C. Gürsoy and N. G. Adar , "Image-Based Control of 2-DOF Ball Balancing System", Journal of Innovative Science and Engineering, vol. 6, no. 2, pp. 160-174, Dec. 2022, doi:10.38088/jise.1091154
 Download Cover Image


Creative Commons License

The works published in Journal of Innovative Science and Engineering (JISE) are licensed under a  Creative Commons Attribution-NonCommercial 4.0 International License.