球杆系统建模及PID控制策略研究.pdfVIP

球杆系统建模及 PID 控制策略研究 摘 要 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,尤其适用于自动控制，电子学，机械学和电机工程 等基础控制课程的教学设计中。球杆系统拥有一个非常重要的特性——开环不 稳定性。关于这个实验设备设计的控制系统能够通过调整杆的旋转角度来控制 在滑轨上的不锈钢球的位置。本文对应用于球杆系统的各类 PID 控制控制方法 如常规 PID 控制、数字PID控制算法、串级PID控制算法、自校正PID算法、 智能PID控制算法（模糊PID、神经网络PID、预测PID）等进行了综合分析。 文中采用机理方法建立系统数学模型，并重点应用串级 PID 控制算法和自校正 PID算法对球杆系统的控制策略进行了深入地研究，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， PID控制算法 对这类开环不稳定对象的控制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，PID 算法，极点配置自校正 I 球杆系统建模及 PID 控制策略研究 Abstract 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, specially designed for teaching the basic control courses in automation, electronic, mechanics and electrical engineering. The ball and beam system has a very important property – it is open loop unstable. The control system designed with this experiment equipment is able to control the position of a stainless steel ball on the track by adjusting the rotating angle of a beam. This paper has been written to introduce some methods on control of the ball and beam system, for example: general PID control, digital PID control, PID-based cascade control, pole placement self-tuning PID, intelligence PID control (fuzzy PID control, BP-based NN control) and so on. The paper builds the model of system by mechanism technique, which designs controller by using PID-based cascade control and pole placement self-tuning PID control in detail. Both two methods can obtain good results. The simulation results can show that the ball and beam system is a very well model of control system engineering, and the control object which is open loop unstable