球杆控制系统控制策略的研究.pdfVIP

球杆控制系统控制策略的研究 摘 要 球杆系统（Ball and Beam ）是为自动控制原理等基础控制课程的教学实验而 设计的实验设备。球杆系统作为自动控制理论的经典实验设备，适用于经典控 制理论及现代控制理论的很多控制方法。球杆系统拥有一个非常重要的特点— —它是开环不稳定的。本文对应用于球杆系统的状态空间极点配置法进行了分 析，采用机理方法建立系统数学模型，球杆系统的控制策略进行了研究，取得 了比较满意的控制结果。仿真结果证明，球杆系统是一个较好的控制理论实验 装置，状态空间极点配置法对这类开环不稳定对象能取得较好的控制效果。 关键词：球杆系统，开环系统，伺服电机，状态空间 I 球杆控制系统控制策略的研究 Abstract The ball and beam system is experimental facilities that designed for automatically controlled principle foundation of course of teaching experiment.The ball and beam system is one of the most enduringly popular and important control systems engineering laboratory models for researching many important classical and modern design methods. The ball and beam system has a very important property – it is open loop unstable. This paper has been written to introduce the pole placement of state-space method on control of the ball and beam system. The paper builds the system model by mechanism technique and designs controller by using pole placement of state-space. This method can obtain good results. The simulation results can prove that the ball and beam system is a very good model of control system engineering, and the control object which is open loop unstable can receive good result by the method of pole placement of state-space. Keywords ：ball and beam system, open loop system, servo gear, state-space II 球杆控制系统控制策略的研究 目 录 第1章 前言……………………………………………………………………………………1 第2章 球杆系统简述………………………………………………………………………..2 2.1 系统简述…………………………………………………………………………