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摘要:球杆系统是其中一个最著名的实验设备控制理论设备之一,很多学者的研究通过球杆系统控制理论的验证。球杆系统是如此的广泛使用,因为它有一些重要的属性,如非线性特点,开环不稳定等特点,很多经典或现代设计方法可以应用于球杆系统,它变成了一个理想的测试控制理论实验设备。
本课题利用实验室的球杆系统，进行球杆系统的数学模型的建立，对球杆系统的稳定性进行分析，并进行了球杆系统的频域设计。对本课题所使用的固高介球杆系统进行了构成及工作原理的介绍，以及介绍了球杆系统中最主要的机械部分和只能伺服驱动的应用；对球杆系统机械模型进行分析，得到小球在球杆上运行的加速度，假设倾斜角为0是得到近似的线性方程，进行转化换算后得出了球杆系统的开环传递函数；用Simulink搭建了球杆系统的模型，并分析了系统的电器模型；根据开环传递函数的Bode图，在系统里面加入一个控制器，变换开环系统的Bode图，从而变换闭环系统的响应，让它达到期望的性能；对实时控制的过程进行了介绍，并成功进行了球杆系统的实时控制实验，观察控制波形，并与仿真波形比较，对存在误差的原因进行理论分析。用这样来使小球比较快速平稳得到达目标的所在位置，然后对所设计的球杆系统控制器进行仿真，结果证明了本课题设计的球杆系统控制器有很好的控制效果。43675
毕业论文关键字： 球杆系统；现代控制理论；线性化；系统建模；频域响应法；MATLAB
The ball and beam system of frequency domain
Abstract:The ball and beam system is one of the most famous theoretical research laboratory equipment, research in control theory, many scholars are verified by the club system. The ball and beam system is so widely used, because it has some very important properties, such as its non-linear characteristics, the open-loop unstable characteristics, many classic or modern design methods can be applied to the club system, it an ideal experimental device inspection and control theory.
This topic using laboratory system, carries on the system: the establishment of mathematical model, the stability of the ball and beam system is analyzed, and the system design of frequency domain.This project USES Gao Jie fixation ball and beam system composition and working principle of the introduction, and introduced the ball and beam in the system the main mechanical parts and only the application of servo drive;Analyze the ball and beam system mechanical model, get the ball run on the ball and beam of acceleration, assumes that the tilt Angle of 0 is approximate linear equation is obtained, the ball and beam systems is obtained after conversion to convert the open-loop transfer function;Using Simulink to build the system model, and analyzes the electrical model of the system;According to Bode diagram of the open loop transfer function, add a controller in system, transform open-loop Bode diagram of the system, so as to transform the response of the closed-loop system, make it to achieve the desired performance;For real time control process are introduced, and a successful ball and beam system of real-time control experiment was carried out, the observation control waveform, and compared with the simulation waveform, the cause of the error analysis theory.Use it to smooth ball more quickly get up to target location, and then the ball and beam system controller designed for the simulation, the result proves that this topic design ball and beam system controller has good control effect.
KeyWords: ball and beam system; Modern Control Theory; Linearization; System Modeling; Frequency response method; MATLAB
目录
1 绪论 1
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