/ball-beam

Primary LanguageJupyter Notebook

Ball Beam System

Environment

  • Ubuntu 16.04
  • Python 3.5.2

Install Package

  • Install python3
  • Install pip3
  • Execute command: pip3 install -r requires.txt

Ball Beam Environment Configuration

  • a = 1
  • r, theta = (1, 0.0564), (2, 0.1129), (3, 0.1698)
  • b = 0.6
  • G = 9.81

Find Parameters of PID

  • Execute: python3 run_optimize.py [A] [R] [THETA]
  • Example: python3 run_optimize.py 1 1 0.0564

Simulation

  1. Record the configuration to result.csv
  2. Execute: python3 simulate.py
  3. Result will be visualize/log/
  4. Open visualize/index.html with browser

Show the Curve

  1. Make sure result.csv exist
  2. Execute all cells in curve.ipynb