Effect of Parameter Variation of Ball Balancer System Using PD and Fuzzy Control

This paper presents the design of a 2DoF Ball Balancer System using PD tuned Fuzzy Logic Controller. The paper analyzes the effect of change in radius of the ball provided the mass of the ball remains constant, the change in mass of the ball provided the radius of the ball remains constant and also studies the effect of gravity on the time domain specifications such as settling time, rise time and delay time. Also, the effect of gravity has also been studied on the parameter values of proportional and derivative control used in the fuzzy controller. The Ball Balancer System is an unstable system, which is also nonlinear in nature with a very complex transfer function. Various methods have been used to control the system over time. This paper makes use of the fuzzy logic controller for studying the ball position characteristics, the ball plate angle characteristics and the characteristics of the actuation voltage for the ball balancer system. The simulations for the same have been performed using the MATLAB/Simulink. The analysis shows no effect of change in mass or radius provided the other parameter remains constant. While the time domain characteristics show variations after a critical point. The time domain characteristics namely rise time, peak time, settling time and delay time of the Ball Balancer System using PD tuned Fuzzy Logic Controller have been compared with the Classical PD Controller.