摘要：有多种控制方法可运用到球杆系统之中，有经典控制理论中的PID控制、现代控制理论的神经网络控制、模糊控制、自适应控制等。常规PID控制具有原理简单,使用方便,鲁棒性好等优点,到今天为止,全世界控制领域中绝大多数仍是应用PID控制。在多数情况下，被控对象存在时变性、非线性和不确定性等因素，若仍用常规PID控制,可能难以达到精确控制要求。而且对于复杂控制对象,由于受到参数整定方法繁琐的干扰,常规PID控制器参数往往整定不良、性能欠佳，运行环境适应性也较差。本课题采用先进的专家PID控制算法对球杆系统进行设计与研究，利用MATLAB仿真软件编制球杆系统的专家PID控制器并进行仿真控制，以求提高控制性能并达到预期的性能指标，这对研究控制理论研究和实际应用有着现实的意义。27764
毕业论文关键词：球杆系统；PID控制器；MATLAB
Ball and beam system design based on the advanced PID control algorithm
Abstract： There are various control method can be applied to the cue system, a classic control theory of PID control, modern control theory, neural network control, fuzzy control, adaptive control, etc. Conventional PID control has simple principle, convenient use, the advantages of good robustness, so as of today, most of the world in the field of control is still the application of PID control. However, in most cases, the controlled object is time-varying, nonlinear and uncertainty factors, such as if still using conventional PID control, may find it difficult to meet the requirements of precise control. And for complex control object, due to the parameter setting method of trival, normal PID control parameters often setting, poor performance, running environment adaptability is poor. So this topic will attempt to adopt the advanced PID control algorithm to the cue system design and research, using MATLAB simulation software to compile the cue advanced PID controller and the real-time control system, in order to improve the control performance and achieve the desired performance index, the research on control theory research has practical significance and practical application.
KeyWords: Ball and beam system；The PID controller；MATLAB
目录
1绪论    1
1.1课题的目的和意义    1
1.2国内外研究现状与水平    1
1.2.1控制理论    1
1.2.2 球杆系统国内外研究现状与水平    3
1.2.3 PID控制国内外研究现状与水平    4
1.3 本课题研究的对象    4
2 球杆系统的分析与建模    6
2.1 球杆系统概述    6
2.2 本课题研究的对象    6
2.2.1 球杆系统的硬件组成    6
2.2.2 智能伺服驱动    8
2.2.3 基于PC的控制软件    9
2.3 球杆系统的特点    9
2.4 球杆系统系统建模    9
2.4.1 球杆系统的机械模型    9
2.4.2 球杆系统的电机模型    10
2.4.3 控制结构    12
2.5 球杆系统的可控性分析    14
3 PID控制理论    15
3.1 PID控制简介    15
3.2 PID控制原理    15
3.2.1 模拟PID控制器    15
3.2.2 数字PID控制器    16
3.3 专家PID    18
3.3.1 关于专家PID控制    18
3.3.2 典型专家PID控制的结构    18
4 球杆系统PID控制的MATLAB仿真    22
4.1 MATLAB及其工具箱    22
4.2球杆系统PID控制的MATLAB仿真    25
5 结论与展望    32 MATLAB基于先进PID控制算法的球杆系统设计:http://www.751com.cn/zidonghua/lunwen_22366.html