{"id":291,"date":"2022-03-31T10:19:44","date_gmt":"2022-03-31T08:19:44","guid":{"rendered":"https:\/\/au.feri.um.si\/lpa\/?p=291"},"modified":"2026-10-30T13:42:37","modified_gmt":"2026-10-30T12:42:37","slug":"krogla-na-letvi","status":"publish","type":"post","link":"https:\/\/au.feri.um.si\/lpa\/en\/krogla-na-letvi\/","title":{"rendered":"Ball and beam"},"content":{"rendered":"<section class=\"wp-block-group alignfull au-section au-section--dark au-projhero is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group au-container is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"au-back wp-block-paragraph\"><a href=\"\/lpa\/en\/raziskovalno-delo\/#pedagosko-delo\">\u2190 Teaching<\/a><\/p>\n\n\n\n<p class=\"au-eyebrow wp-block-paragraph\">02.15 \u00b7 Student project<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">Ball and beam<\/h1>\n\n\n\n<p class=\"au-lead wp-block-paragraph\">A system for controlling the position of a ball on a tilting beam (ball and beam): the ball stops at any chosen point along the beam.<\/p>\n<\/div>\n<\/section>\n\n\n\n<section class=\"wp-block-group alignfull au-section is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-group au-container is-layout-flow wp-block-group-is-layout-flow\">\n<div class=\"wp-block-columns au-projbody is-layout-flex wp-container-core-columns-is-layout-89c98654 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:60%\">\n<h2 class=\"wp-block-heading\">About the project<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">The aim was to build a system for controlling the position of a ball on a tilting beam. The ball position is sensed with a membrane potentiometer, and the beam is tilted by a servo motor through a crank linkage. The system can move the ball to any position along the beam.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">How it works<\/h2>\n\n\n\n<ol class=\"wp-block-list au-steps\">\n<li><strong>Model<\/strong>: we derived a mathematical model of the system and designed control algorithms in simulations.<\/li>\n\n\n\n<li><strong>Controllers<\/strong>: we implemented a cascade PID controller and a state-space LQR controller on the PLC.<\/li>\n\n\n\n<li><strong>Test<\/strong>: we checked the control performance and compared the two algorithms.<\/li>\n<\/ol>\n<\/div>\n\n\n\n<div class=\"wp-block-column au-facts is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:40%\">\n<figure class=\"wp-block-table au-facts__table\"><table class=\"has-fixed-layout\"><tbody><tr><td>Type<\/td><td>Student project, bachelor's thesis<\/td><\/tr><tr><td>Sensor<\/td><td>SoftPot SEN-08681 membrane potentiometer<\/td><\/tr><tr><td>Drive<\/td><td>Mitsubishi HG-KN13J servo motor, MR-JE-10C servo amplifier<\/td><\/tr><tr><td>Controller<\/td><td>Mitsubishi FX5UC-32MT\/DSS-TS PLC<\/td><\/tr><tr><td>HMI<\/td><td>Mitsubishi GT2107-WTSD<\/td><\/tr><tr><td>Controllers<\/td><td>Cascade PID, LQR<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6aef6824df655&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6aef6824df655\" class=\"wp-block-image size-full wp-lightbox-container\"><img loading=\"lazy\" decoding=\"async\" width=\"300\" height=\"252\" data-wp-class--hide=\"state.isContentHidden\" data-wp-class--show=\"state.isContentVisible\" data-wp-init=\"callbacks.setButtonStyles\" data-wp-on--click=\"actions.showLightbox\" data-wp-on--load=\"callbacks.setButtonStyles\" data-wp-on--pointerdown=\"actions.preloadImage\" data-wp-on--pointerenter=\"actions.preloadImageWithDelay\" data-wp-on--pointerleave=\"actions.cancelPreload\" data-wp-on-window--resize=\"callbacks.setButtonStyles\" src=\"\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Krogla-na-letvi.jpg\" alt=\"Krogla na letvi\" class=\"wp-image-330\"\/><button\n\t\t\tclass=\"lightbox-trigger\"\n\t\t\ttype=\"button\"\n\t\t\taria-haspopup=\"dialog\"\n\t\t\tdata-wp-bind--aria-label=\"state.thisImage.triggerButtonAriaLabel\"\n\t\t\tdata-wp-init=\"callbacks.initTriggerButton\"\n\t\t\tdata-wp-on--click=\"actions.showLightbox\"\n\t\t\tdata-wp-style--right=\"state.thisImage.buttonRight\"\n\t\t\tdata-wp-style--top=\"state.thisImage.buttonTop\"\n\t\t>\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"12\" height=\"12\" fill=\"none\" viewbox=\"0 0 12 12\">\n\t\t\t\t<path fill=\"#fff\" d=\"M2 0a2 2 0 0 0-2 2v2h1.5V2a.5.5 0 0 1 .5-.5h2V0H2Zm2 10.5H2a.5.5 0 0 1-.5-.5V8H0v2a2 2 0 0 0 2 2h2v-1.5ZM8 12v-1.5h2a.5.5 0 0 0 .5-.5V8H12v2a2 2 0 0 1-2 2H8Zm2-12a2 2 0 0 1 2 2v2h-1.5V2a.5.5 0 0 0-.5-.5H8V0h2Z\" \/>\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n\n\n\n<p class=\"au-textlink wp-block-paragraph\"><a href=\"\/lpa\/wp-content\/uploads\/sites\/3\/2022\/06\/Krogla_na_letvi-Matej_Stonjsek.pptx\" download>Bachelor's thesis presentation (PowerPoint) \u2193<\/a><\/p>\n\n\n\n<p class=\"au-textlink wp-block-paragraph\"><a href=\"https:\/\/ev.fe.uni-lj.si\/1-2-2023\/Muskinja.pdf\" target=\"_blank\" rel=\"noreferrer noopener\">Read the article in Elektrotehni\u0161ki vestnik \u2197<\/a><\/p>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-group au-projsec is-layout-flow wp-block-group-is-layout-flow\">\n<h2 class=\"wp-block-heading\">Video<\/h2>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Ball and beam\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/0libDjeP3FM?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-group au-projsec is-layout-flow wp-block-group-is-layout-flow\">\n<h2 class=\"wp-block-heading\">Presentation<\/h2>\n\n\n\n<div class=\"wp-block-group au-resgrid au-resgrid--2 is-layout-flow wp-block-group-is-layout-flow\">\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6aef6824e0966&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6aef6824e0966\" class=\"wp-block-image size-full wp-lightbox-container\"><img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"720\" data-wp-class--hide=\"state.isContentHidden\" data-wp-class--show=\"state.isContentVisible\" data-wp-init=\"callbacks.setButtonStyles\" data-wp-on--click=\"actions.showLightbox\" data-wp-on--load=\"callbacks.setButtonStyles\" data-wp-on--pointerdown=\"actions.preloadImage\" data-wp-on--pointerenter=\"actions.preloadImageWithDelay\" data-wp-on--pointerleave=\"actions.cancelPreload\" data-wp-on-window--resize=\"callbacks.setButtonStyles\" src=\"\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv3.jpg\" alt=\"Prosojnica: krogla na letvi, cilj in uporabljene komponente\" class=\"wp-image-312\" srcset=\"https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv3.jpg 1280w, https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv3-300x169.jpg 300w, https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv3-1024x576.jpg 1024w, https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv3-768x432.jpg 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\" \/><button\n\t\t\tclass=\"lightbox-trigger\"\n\t\t\ttype=\"button\"\n\t\t\taria-haspopup=\"dialog\"\n\t\t\tdata-wp-bind--aria-label=\"state.thisImage.triggerButtonAriaLabel\"\n\t\t\tdata-wp-init=\"callbacks.initTriggerButton\"\n\t\t\tdata-wp-on--click=\"actions.showLightbox\"\n\t\t\tdata-wp-style--right=\"state.thisImage.buttonRight\"\n\t\t\tdata-wp-style--top=\"state.thisImage.buttonTop\"\n\t\t>\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"12\" height=\"12\" fill=\"none\" viewbox=\"0 0 12 12\">\n\t\t\t\t<path fill=\"#fff\" d=\"M2 0a2 2 0 0 0-2 2v2h1.5V2a.5.5 0 0 1 .5-.5h2V0H2Zm2 10.5H2a.5.5 0 0 1-.5-.5V8H0v2a2 2 0 0 0 2 2h2v-1.5ZM8 12v-1.5h2a.5.5 0 0 0 .5-.5V8H12v2a2 2 0 0 1-2 2H8Zm2-12a2 2 0 0 1 2 2v2h-1.5V2a.5.5 0 0 0-.5-.5H8V0h2Z\" \/>\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n\n\n\n<figure data-wp-context=\"{&quot;imageId&quot;:&quot;6aef6824e1368&quot;}\" data-wp-interactive=\"core\/image\" data-wp-key=\"6aef6824e1368\" class=\"wp-block-image size-full wp-lightbox-container\"><img loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"720\" data-wp-class--hide=\"state.isContentHidden\" data-wp-class--show=\"state.isContentVisible\" data-wp-init=\"callbacks.setButtonStyles\" data-wp-on--click=\"actions.showLightbox\" data-wp-on--load=\"callbacks.setButtonStyles\" data-wp-on--pointerdown=\"actions.preloadImage\" data-wp-on--pointerenter=\"actions.preloadImageWithDelay\" data-wp-on--pointerleave=\"actions.cancelPreload\" data-wp-on-window--resize=\"callbacks.setButtonStyles\" src=\"\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv4.jpg\" alt=\"Prosojnica: regulatorja PID in LQR, odziv sistema ob stopni\u010dni spremembi reference polo\u017eaja\" class=\"wp-image-314\" srcset=\"https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv4.jpg 1280w, https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv4-300x169.jpg 300w, https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv4-1024x576.jpg 1024w, https:\/\/au.feri.um.si\/lpa\/wp-content\/uploads\/sites\/3\/2022\/03\/Diapozitiv4-768x432.jpg 768w\" sizes=\"auto, (max-width: 1280px) 100vw, 1280px\" \/><button\n\t\t\tclass=\"lightbox-trigger\"\n\t\t\ttype=\"button\"\n\t\t\taria-haspopup=\"dialog\"\n\t\t\tdata-wp-bind--aria-label=\"state.thisImage.triggerButtonAriaLabel\"\n\t\t\tdata-wp-init=\"callbacks.initTriggerButton\"\n\t\t\tdata-wp-on--click=\"actions.showLightbox\"\n\t\t\tdata-wp-style--right=\"state.thisImage.buttonRight\"\n\t\t\tdata-wp-style--top=\"state.thisImage.buttonTop\"\n\t\t>\n\t\t\t<svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"12\" height=\"12\" fill=\"none\" viewbox=\"0 0 12 12\">\n\t\t\t\t<path fill=\"#fff\" d=\"M2 0a2 2 0 0 0-2 2v2h1.5V2a.5.5 0 0 1 .5-.5h2V0H2Zm2 10.5H2a.5.5 0 0 1-.5-.5V8H0v2a2 2 0 0 0 2 2h2v-1.5ZM8 12v-1.5h2a.5.5 0 0 0 .5-.5V8H12v2a2 2 0 0 1-2 2H8Zm2-12a2 2 0 0 1 2 2v2h-1.5V2a.5.5 0 0 0-.5-.5H8V0h2Z\" \/>\n\t\t\t<\/svg>\n\t\t<\/button><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-group au-projnav is-layout-flow wp-block-group-is-layout-flow\">\n<p class=\"wp-block-paragraph\"><a href=\"\/lpa\/en\/rotacijsko-inverzno-nihalo\/\"><span>\u2190 Previous<\/span>Rotary inverted pendulum<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"\/lpa\/en\/sistem-za-pozicioniranje-in-sinhronizacijo\/\"><span>Next \u2192<\/span>Positioning and synchronisation system<\/a><\/p>\n<\/div>\n<\/div>\n<\/section>","protected":false},"excerpt":{"rendered":"<p>\u2190 Pedago\u0161ko delo 02.15 \u00b7 \u0160tudentski projekt Krogla na letvi Sistem za regulacijo polo\u017eaja krogle na nagibajo\u010di se letvi (angl. ball and beam): krogla se ustavi na poljubnem mestu vzdol\u017e letve. O projektu Cilj je bila izdelava sistema za regulacijo polo\u017eaja krogle na nagibajo\u010di se letvi. Polo\u017eaj krogle zaznavamo z membranskim potenciometrom, naklon letve pa [&hellip;]<\/p>\n","protected":false},"author":0,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"page-brez-naslova","format":"standard","meta":{"footnotes":""},"categories":[5],"tags":[],"class_list":["post-291","post","type-post","status-publish","format-standard","hentry","category-studentski-projekti"],"_links":{"self":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts\/291","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/types\/post"}],"replies":[{"embeddable":true,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/comments?post=291"}],"version-history":[{"count":4,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts\/291\/revisions"}],"predecessor-version":[{"id":439,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/posts\/291\/revisions\/439"}],"wp:attachment":[{"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/media?parent=291"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/categories?post=291"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/au.feri.um.si\/lpa\/en\/wp-json\/wp\/v2\/tags?post=291"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}