固高球杆系统课程设计.docx

综合课程设计 球杆系统 Summary BallBeam system is a typical second order nonlinear time-dependent system, widely used i n teaching and experimental researching in automatic control theory. It has significant meaning in the design of the new control method and its stability, quickness and accuracy. In this paper, we e stablished BallBeam system through the dynamics analysis and MATLAB programming mathe matical simulation model, for the research of system dynamic process provides a powerful mathe matical tool. The main work as follows:According to Newtons second law, we built this Ball Be am mathematic model system and finished its digital simulation program design in MATLAB envi ronment .Through mathematical calculation, analysis, and judgment in the original system as well as various methods to improved system stability,The BallBeam mathematic model system based on MA TLAB, we have designed lead, lead/lag, PD and PID control method to achieve the good co ntrol of ball position.The control system as the BallBeam mathematic model system platform, compared the experimental data and simulation data ; The basic agreement , proved that the established mathematic correction model was correct. The keywords : BallBeam system, system modeling and simulation, controller design 目录 一、整体方案设计 ................................................................................................................... 5 1.1 需求 ............................................................................................................................. 5 1.2 设定目标 .................................................................................................................... 5 1.3 概念设计 .................................................................................................................... 5 1.4 整体开发方案设计及评估 ........................................................................................ 5 二、系统设计 ...................