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ball-and-plate-6bf158.md

This is my homemade Ball & Plate system.

System consist of 2 digital servo motors (Hitec HS-7955TG Ultra Torque), microcontroller Arduino MEGA 2560, and 4 wire resistive touchscreen (7"). There is Linear-Quadratic (LQ) regulator with Kalman filter working as Linear-quadratic estimator (LQE). This system can move any ( heavier ) round element to any point of the surface to an accuracy of ± 1 mm .

There are some photos taken before the experiment

🛠️ เจาะลึกเบื้องหลังการทำงาน (Deep Dive / Technical Analysis)

The Ball and Plate system is a classic control theory problem, similar to a self-balancing robot but on two axes instead of one. It demands sub-millimeter precision and aggressive mathematical tuning.

The PID Algorithm

  1. The Error: The center of the plate is [X:0, Y:0]. The camera (or resistive touch panel) detects that the ball is at [X:15, Y:-10]. That difference is the "Error".
  2. Proportional: Make an immediate correction based on how big the error is.
  3. Integral: If the ball isn't moving fast enough to the center, slowly ramp up the correction.
  4. Derivative: As the ball gets close to the center, apply the brakes (reverse correction) so it doesn't shoot past the center and roll off the other side!

Essential Hardware

  • Arduino Mega/Uno: Requires intense mathematical calculations.
  • Resistive Touch Panel (4-wire): Pulled from an old tablet, this acts as the "Plate." When the steel ball rolls on it, it instantly outputs its exact X/Y coordinates.
  • High-Speed Servos (x2): Placed underneath the plate on a universal joint. One controls the X-axis tilt, the other controls the Y-axis tilt.

Mastering this project means you have mastered PID, making you capable of programming stabilizing gimbals or hovering quadcopters.

ข้อมูล Frontmatter ดั้งเดิม 

title: "Ball and Plate"
description: "LQ control of Ball and Plate system controlled by Arduino MEGA 2560."
author: "davidhamor"
category: "Motors & Robotics"
tags:
  - "ball and plate"
  - "pid"
  - "home automation"
views: 97199
likes: 54
price: 2450
difficulty: "Intermediate"
components:
  - "1x Arduino Mega 2560"
tools: []
apps: []
downloadableFiles:
  - "https://projects.arduinocontent.cc/5c42faf8-8123-4811-9931-dc3bd2ec6df9.ino"
  - "https://projects.arduinocontent.cc/5c42faf8-8123-4811-9931-dc3bd2ec6df9.ino"
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