Modeling and Control of an Air Levitation Ball and Pipe Laboratory Setup

in this paper, design, fabrication, modeling, and control of a low-cost ball and pipe air levitation laboratory system for educational purposes is investigated. Ball and pipe laboratory setup is a dynamic benchmark system, designed to control the position of the ball on a vertical upward airflow that counteracts the gravitational force exerted on the ball without mechanical support. A blower feeds airflow, and the position of the ball is measurable by using an infrared distance meter. In this paper, the design and construction of a ball and pipe system are initially carried out. Detailed mathematical modeling of the process is included, followed by a system parameters identification process, and then a PID control system is developed by establishing a connection between the Arduino circuit and Simulink® real-time toolbox. The performance of the controller represents small overshoot and fast settling time. The system is intended to be used as a benchmark and educational laboratory setup in control systems theory courses. This device would enhance the understandings and skills of students by providing a proper balance between the theoretical concepts and practical knowledge.