A feasibility assessment of using ultrasonic sensor position feedback for a ball-and-beam apparatus

The process of testing and implementing ultrasonic transducers for ball position feedback on a ball-and-beam apparatus is described. Various ball-and-beam configurations are described as well as the specific configuration used in this work. Details include choices in sensors, hardware, construction, and controller design. The weight symmetry constraint necessitates using two sensors. Information is provided as to how the two sensors are used without creating interference. Measured initial condition and disturbance responses are presented. The conclusions indicate that acoustic sensors can complete a successful ball-and-beam system.