Overview

This project implements a PID control system to levitate a ping pong ball within a vertical tube. By regulating the airflow from a DC blower fan based on real-time position feedback from an ultrasonic sensor, the system achieves stable levitation at a user-defined setpoint.

Key Features

• PID Control Loop: Runs on an Arduino UNO to constantly adjust fan speed.
• Real-time Feedback: HC-SR04 ultrasonic sensor measures the ball’s position.
• Data Analysis: Python scripts collect telemetry for analysis in MATLAB.
• System Identification: Mathematical models (plants) were derived using MATLAB’s System Identification Toolbox to tune the controller.

Hardware Setup

The system consists of:

• Controller: Arduino UNO
• Actuator: 12V DC Blower Fan with L298 Motor Driver
• Sensor: HC-SR04 Ultrasonic Sensor
• Structure: Transparent vertical acrylic tube

Methodology

Control Strategy

The controller was developed in three stages:

1. Manual Tuning: Initial P-I-D values were approximated experimentally to achieve semi-stable levitation.
2. System Identification: Real-world input/output data was collected and imported into MATLAB to generate a transfer function for the “plant”.
3. Simulation & Refinement: Simulink models (both continuous and discrete) were used to fine-tune the PID gains for optimal stability and response time.