The master thesis describes the development of the model and the production of the improved ball-and-hoop apparatus. First, a basic 3D model of the device was developed in Autodesk Inventor Professional 2021 and transferred to the Simscape Multibody environment in Matlab-Simulink. We conducted experiments with the 3D model and compared it with the mathematical model we developed at the same time. Based on the mathematical model, we developed a controller for adaptive control of the system. The results of the experiments show that the central catching device is feasible in reality.
We upgraded the initial 3D model to create the device. The device is made up of several components. The base consists of a pedestal with electronics and electrical connections. There is an electric motor that provides the power, a central catch area where the servomotor and servo-controller are mounted to rotate the hoop with the inner trap. At the front of the device there is a Pixy camera with appropriate lighting.
The device can be used to perform various experiments or to test the use of controllers in the Matlab-Simulink environment. At the input, we enter the input speed and at the output we monitor the angular displacement of the hoop and the position of the ball, which we use according to our own preferences. The adaptive controller was tested by successfully catching the ball in the inner trap.
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