Ball and Beam – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

Ball and Beam

This is a model of Quanser's ball and beam module which consists of a track on which the metal ball is free to roll. One side of the beam is attached to a lever arm which is coupled to and rotates with a motor. By controlling the positing of the motor, the beam angle is adjusted to balance the ball to the desired position. Two PD controllers are used to control 1) the angle and 2) the ball position along the beam.


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