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Ball and Plate System
  GPB Experimental Manual
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  The ball and plate system is a multi-variables, non-linear control target, which is the 2D extension of ball and beam system. The control target is a plate with 2 mutually perpendicular rotating axes, with the aim of balancing a free rotating ball in a specific position on the plate, or having it rotating in a specific trajectory. The rotation of the plate along X-axis and Y-axis are driven by 2 motors, the vision sensor obtains the position of the ball on the plate and feedback to the control system, certain control strategies are applied to control the board for rotating angles along X-axis and Y-axis by the control system, and thus the balancing position and the motion trajectory of the ball on the plate is achieved.
System Characteristics
  • Position of the ball is detected by visual device.
  • PC+ motion controller open architecture control platform is used
  • DC serve motors are adopted in driving joints
  • 1000-line rotary encoder is used to detect the 2D rotating angles
  • High performance image acquisition card and camera lens
  • System is easy to control, operate and safe to use.
Reference experiments
  • Identification of Demarcation of linearity and non-linearity model of video recorders
  • Model-building of sSystem dynamics modeling and analysis
  • Application and research of image processing calculationalgorithms
  • 2D servo control based on visual vision technology
  • Research of PID controller and other classical control calculationsmethods
  • Research of self-defined control calculationsalgorithms
Control Examples
  • Position the ball to the centre of the plate
  • Position the ball to a specific point on the plate
  • Movement of the ball to a particular position via a specific trajectory
  • Travelling of the ball to a certain point under local limitation of rotation in a certain direction (+/- 10 degrees)
  • Display of preset posture of the ball at the preset position.
System Configuration


Main body

DC servo motor driven;

Platform dimension: 300mm x 300mm;

Base dimension400mm x 400mm

Electric control module

GPB2001 specific

Visual module

Image acquisition card (x1) + CCD (x1)


Ball and plate control software

LabVIEW experiment software









Technical Specifications


L x W x H

600mm x 300mm x 400mm

DC motor rated power



AC220V 50HZ 3.2A

DC brush motor deceleration ratio


Diameter of ball


Image pixel

768 x 576

Sampling frequency


Image acquisition card

- support the acquisition of NTSC, PAL, RS170 and CCIR standard video source

- dual visual decoder structure allows quick switching of channels

- can connect and switch with16 CVBS channels, 8 Y/C or composite input channels

- 16-channel TTL I/O auxiliary interface and RS-485 serial interface

- watchdog timer is used to surveille the system integrity

- support 32-bit 33/66 MHz PCI bus mode

- software development package includes Matrox Imaging Library (MIL)/ActiveMIL, MIL-Lite/ActiveMIL-Lite

- support Microsof Windows 2000 and WindowsXP OS






















Ordering Guide

Model Number


Product Configuration


Ball & Plate system


Main body


GT-400-SV motion controller


Electric control module


Ball & plate visual module


Ball & plate control software



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