The Ball Balancing Table (BBT) is a well-known kit for all mechatronics enthusiasts. Even if it might appear quite simple, it allows to investigate many aspects of control, for example anti-windup scheme for PID control.
The main parts of the BBT kit are:
- Power Supply
- Controller (Arduino)
- RC Servos
- 2D resistive touch screen
- Steel Ball
|Assembled and ready to control plant with the integrated power unit.||Getting Started Program with rich Graphical User Interface for out-of-the-box user experience|
|Implementation of advanced digital control techniques||Fully compatible with Altair Activate|
|Fully documented system models and parameters provided for Altair Activate.||Ball position feedback using a high precision touch surface (camera based feedback optional) Actuating the table by RC servo motors, which are familiar to students.|
|Rectangular and circular path options are integrated in the software.||Enables students to create their own real-time algorithms. Open architecture with extensive courseware, suitable for undergraduate courses for engineering disciplines related to control systems.|
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|STARTER KIT||EXPANSION KIT|
|Hardware+ Courseware||Hardware+ Courseware|
|Teaching License of Software|
|Initial Setup Help and Training (via web)|
- Only l Starter Kit is needed. If you already have the Altair software, you need only purchase Expansion Kits.
- Software License includes: Altair Compose®, Altair Activate®, Altair MotionSolve™ & MotionView™.
- All software apps can be installed and run on student computers and/or on school computers.
|Components of Ball Balancing Table||Fundamentals of
|Feedback in Control Systems|
|RC Servo Motors||PWM Signaling Theory||Lagrangian Method||Reading Ball Position from Touch Sensor|
|Touch Sensor||Generating PWM Signals Driving RC Servos with PWM Signals||Newton’s Law of Motion||Derivative Filtering|
|Controller||Modeling of Actuator|
|Acrome Power Distribution BoxMechanics of the System||Obtaining Transfer Function|
|Control System Verification|
|Time Domain Characteristics||Design of Linear Controllers||Frequency response analysis|
|Steady State Response and Steady State Error||PID controller and Fuzzy Logic Controller||Experimental Bode Diagram|
|Comparing the Simulation and Real System Responses for Different Controllers||Cut-Off Frequency Determination|
The following is the typical workflow for a typical BBT experiment
The closed loop system can be easily modeled in Altair Activate through this block diagram:
The last step is to test and validate the controller with the real BBT kit. This means that we are performing a hardware in the loop simulation.
As you can see the digital twin and the real BBT kit behave almost the same: