Abstract

This study gives an in-depth look into the well-known ball and plate system, which uses sensors, actuators, and controllers to keep a rolling ball balanced on a flat platform. The theoretical investigations and analyses underlying the ball and plate system are clarified, including the system's mathematical and physical modeling, as well as a full explanation of the components involved. The goal of our project is to design a closed-loop PID controller to achieve ball balancing on the platform. A resistive touch screen is used in the project as a sensor to detect the ball's current horizontal and vertical coordinates. The PID controller then compares these coordinates to the intended position and controls two DC servo motors acting as actuators, tilting the platform to achieve and maintain the desired ball position. The system's goal is to keep the ball at a specified fixed location in the face of any disruptions (disturbance rejection). Particle Swarm Optimization (PSO) is used to tweak the PID controller settings, which optimizes an objective function that minimizes the Integral Absolute Error (IAE) in both the x and y coordinates of the ball's position on the plate. This project is an implementation of the PID controller, which is used in a variety of real-world applications such as balancing robots, drones, and temperature control systems. The fundamental goal of developing such a system is to get a full educational knowledge of balancing systems and their operating principles, which are important in many sectors of life and can be improved further for future usage. Furthermore, the introduction of an optimization approach to improve the system's reaction to disturbances is regarded as a significant addition to the area.