Modelling and Implementation of Ball and Beam System using PID Controller Tuned with Particle Swarm Optimization

Abstract: The ball and beam system are widely used as a tool for learning traditional as well as advanced control techniques. The system with highly nonlinear characteristics is an excellent tool to represent unstable systems. This paper represents an optimal control strategy for controlling the position of ball on the beam by comparing the various optimization algorithms like Zeigler-Nichols, Cohen-Coon and Particle Swarm Optimization. This system is an open loop non-linear system. The whole system could be implemented by employing a servo motor, an Infrared distance sensor, a processor and a support assembly. The system is designed with two Degrees-of Freedom. The nonlinear characteristic of the higher order system is regulated by using PID controller. The control problem is a challenging one as the ball position continuously varies with the beam angle. The control strategy includes PID control for both ball position (beam angle) and servo position control. The control parameters are tuned using optimal method. Then the results are verified experimentally using real time ball and beam system.

Keywords: Optimization algorithms, higher order system, PID controller, ball and beam