PERFORMANCE ANALYSIS OF BALL BALANCER SYSTEM USING FUZZY CONTROLLERS

Abstract

In this thesis, a 2DoF ball balancer system using a PD-tuned fuzzy logic controller is shown. The influence of differences in the ball's radius while maintaining a constant mass as well as variations in the ball's mass while maintaining a constant radius are both examined in this study. The analysis also looks at how gravity affects important time domain characteristics including settling time, rising time, and delay time. Additionally, the study investigates how the parameter values of the derivative and proportional controls inside the fuzzy controller are impacted by gravity. The Ball Balancer System has a complex transfer function and is characterised by its instability and nonlinearity. Different techniques have been used over time to manage this system. The properties of ball position, ball plate angle, and actuation voltage in the ball balancer system are investigated in this research using a fuzzy logic controller. Between the Ball Balancer System using the PD adjusted Fuzzy Logic Controller and the Classical PD Controller, the time domain features such as rise time, peak time, settling time, and delay time are compared. The thesis also covers how to regulate the ball's location in a two-degree-of-freedom ball balancer system using the Mamdani and Sugeno fuzzy inference systems. Nonlinearity, instability, and a convoluted transfer function all define this system. Fuzzy logic is one intelligent control technology that makes it easier to regulate and track the position of complex nonlinear systems. The Mamdani FIS and Sugeno FIS are compared to see how well they function in terms of ball location, ball plate angle, and actuation voltage. To compare the two fuzzy systems, variables including rising time, peak time, settling time, delay time, and peak overshoot are used. All the work in this project is accomplished through simulation of the ball balancer system using MATLAB/Simulink software and results and waveforms have been iv recorded accordingly.