Ball and Wheel System MapleSim Model - Ball and Wheel System S-Function - MapleSim Model Gallery

Ball and Wheel System

This model is an electromechanical system, called the ball-and-wheel system. This system consists of a wheel and a motor. Over the periphery of the wheel, a ball is balanced by controlling the angle of the wheel through the motor. This system is nonlinear and underactuated. Moreover, the equilibrium of this system is open-loop unstable. The system is linearized about the equilibrium position and an LQR controller is designed to stabilize the system. The control law is implemented on an experimental apparatus. The video of both the animation and the experiment show that the system performs well even with disturbance. A good agreement between the simulation and the experimental results is also obtained.

This model was developed and the experiment was conducted by Tzu-Chin Lin and Ming-Tzu Ho at the Department of Engineering Science of National Cheng Kung University, Taiwan.

Close

This Model Requires MapleSim

If you do not have MapleSim, contact us to arrange a short, live demonstration with a MapleSim product expert, where you will:


  • See how this model operates
  • Learn how it was developed
  • Discover how it can be modified to fit your requirements
Request a Live Demo

If you have a copy of MapleSim available, you can download the model here:

Download the Model
Close

Request an S-Function

MapleSim Models can be readily exported as royalty-free S-functions. To request the S-function corresponding to this model, please fill in the form below.


Model: Ball and Wheel System
Industry:

Submitting form...

Thank you for requesting the S-Function. Your request has been received and you can expect to hear from us shortly. Close Window
Oops! There was a problem. Try again later Close Window
Model Images
  • model The model schematic of the system
  • results Response of the angular position of the ball
  • 3d Animation of the simulation result
MapleSim Video
Video not available in this browser.
Simulink is a registered trademark of The MathWorks, Inc.