Desenvolvimento de um Protótipo didático do Sistema Barra-Bola utilizando Arduino e materiais de baixo custo

This work presents the development of a low-cost educational ball-and-beam prototype, built with accessible materials and controlled by an Arduino platform. The main objective is to provide an affordable tool for practical learning in dynamic systems, mathematical modeling, and control techniques, highlighting its relevance in Control and Automation Engineering education. The study begins with the mathematical modeling of the system, considering the motion of a solid sphere rolling on an inclined beam. The resulting linearized transfer function characterizes the plant as a double-integrator system, inherently unstable in open loop and suitable for evaluating control strategies. Subsequent simulations in MATLAB/Simulink, including the Virtual Lab environment, enable the analysis of controller behavior under different tuning conditions. This stage supports the establishment of performance criteria and provides preliminary insights into system stability. The experimental implementation consists of a physical prototype composed of a U-profile metallic beam, structural support, a servo motor controlling beam inclination, and an ultrasonic sensor responsible for measuring the sphere’s position. The control algorithm integrates sensor acquisition, error computation, and actuation through pulse-width modulation. Experimental results showed that mechanical limitations, structural looseness, and sensor restrictions significantly affected system stability, resulting in oscillations near the equilibrium region. Although the mathematical model and simulations suggested adequate behavior, the practical response revealed the need for structural and sensing improvements. The study concludes that the prototype fulfills its educational purpose by demonstrating the practical challenges of real control implementations and reinforcing the importance of sensor accuracy and mechanical rigidity.