摘要
球棒系统是典型的开环不稳定非线性系统,是机电控制的典型课题。以球棒控制系统为研究对象,首先对系统进行受力分析,建立相应的数学模型,并将非线性模型线性化;然后根据系统模型采用根轨迹法设计控制器,使球棒系统稳定;最后利用matlab的simulink工具进行仿真,获得了较好的控制性能。通过该系统的设计,说明了机电控制系统设计的一般步骤,提供了一套利用matlab进行控制器设计和仿真的方法,对机电控制系统设计具有很强的借鉴意义。
Ball - beam system is an instable open loop nonlinear system, and is a typical topic of electromechanicat control. Firstly, mechanical analysis is carried out for the system and the corresponding mathematical models are established. Meanwhile the nonlinear models are linearized. Secondly, the rootlocas method is used to design the controller according to the system models for the sake of the stability of the ball - beam system. Lastly, preferable control performance is obtained by means of emulation based on the SIMULINK kit of MATLAB. In terms of the design of the system, the general steps of systematic designs of electromechanical control are illustrated and a set of methods are offered, in which the design and emulation of controls are based on MATLAB. It is considerably meaningful to the design of electromechanical systems.
出处
《计算机仿真》
CSCD
北大核心
2009年第2期337-340,共4页
Computer Simulation
关键词
非线性
球棒控制
双闭环
控制仿真
Nonlinear
Ball - beam control
Double closed loops
Control simulation
