PID Balance Ball and Beam

This is the final project of Logic Design Laboratory. I established a Self-Balancing Beam and Ball system which can maintain the ball at any specified location under disturbance and noise with error < 1cm.

I implemented the PID control algorithm using Verilog description language in a FPGA board. For the sensor, I used an infrared distance sensor. For the actuator, I picked the high-torque output servo motor MG995.

##　Demo

• video

Github

• repo