Feedback Control Systems: Ball and Beam PID Control

This research project explored the development, modeling, and control of a Ball-and-Beam system using Proportional-Integral-Derivative (PID) controllers. The system serves as a benchmark in control engineering education and research, providing insights into nonlinear dynamics and feedback control principles. The objective was to stabilize the position of a steel ball on a beam by adjusting the beam angle through a servo motor, overcoming inherent instability with feedback control mechanisms.

Highlights:

- Mathematical Modeling: Developed a model using physical laws and linear approximations.
- Transfer Function Derivation: Facilitated effective PID controller design.
- Simulations: Conducted to determine initial PID coefficients and predict system behavior.
- Hardware Implementation: Built a prototype using an ESP32 microcontroller, servo motor, ultrasonic sensors, and a rail system.
- Experimental Insights: Real-world tests revealed bounded oscillations due to unmodeled dynamics, sensor noise, and actuator overshoot, contrasting with smoother theoretical predictions.

You can review this paper for detailed insights into the mathematical modeling, MATLAB simulations, and the comparison between the theoretical model and practical assembly.

The project demonstrated the utility of simulations in designing feedback systems and provided valuable hands-on experience in tackling real-world control challenges.

Collaborators: Gholibjon Qasobov, Dilnaz Maximova, Makhambet Aldabergenov, Aigerim Kubeyeva, and Dias Izimov.