【作者】 周长浩；

【导师】 何朕；

【作者基本信息】 哈尔滨工业大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 球杆系统是大学控制实验室里常见的实验设备,通常用来检验控制策略的效果,由于球杆系统与机器人有很多的相似性,并且很多实际系统都可以抽象为球杆模型,因此对球杆系统的研究引起了国内外学者关注。本文第一部分先从球杆系统的运动方程式入手,分析球杆系统的物理特性;经过实际调试中的仿真曲线,发现球杆系统并不是像文献中的数学模型所描述的那么单纯,于是依据对理论和试验数据的分析,重点指出了球杆系统极易出现自振荡非线性问题的本质——不是大行程下的非线性现象,而是平衡点上的自振荡问题,最后提出了一种避免产生自振荡方法。控制系统仿真是控制系统研究必不可少的手段。通过仿真设计者能够找到系统模型的最佳控制方案,但是由于实际系统同理论模型的差异,当该方案应用于实际系统,效果却不一定好,需要反复修改甚至重新设计。这样就会导致设计周期太长,投入过大等缺点。如何将仿真和测试实际应用效果这两者统一于同一个平台上,克服问题的关键。本文第二部分利用MATLAB/SIMULINK/RTW实时方案对球杆系统进行开发,使用自定义设备驱动模块代替数学模型进行实时控制,实验证明这种方法是可行性,这有助于设计人员将精力集中到系统设计,省去消耗在控制算法和界面等软件设计相关方面的时间和精力,有效地缩短了开发周期。论文总结了如何编写自定义的设备驱动模块的方法,为RTW实时控制的广泛应用提供了便利的条件。更多还原

【Abstract】 Ball and Beam system is the common controls system in the laboratory of the university, usually uses for testing the control strategy. Because the Ball and Beam have many similarities with the robot and a lot of actual system’s models can be deemed to Ball and Beam system, the domestic and foreign scholars pay attentions to research of the system.In the first part, the article start from the Ball and Beam system movement equation, get the Ball and Beam system physical property; According to the experiment, we find that the real problem of the ball-and-beam system is not the nonlinear behavior under large excursions, but the limit cycle around the equilibrium point. It is pointed out that the limit cycle is caused by the hysteresis behavior of the ball during rolling. A pole placement method is proposed to avoid the limit cycle.Simulation of the control system is an indispensable means for studying the control system. Through simulation, the designers can find out the best control plan for the model. Because the deference between the concrete system and the model, the plan is not very effective when it’s applied to the concrete system. It need be revised again and again and even designed again. This leads to the long design period and high costs. How to integrate simulation with testing the practical results in a platform is a key to conquer the problem.In the second part, the article use MATLAB/SIMULINK/Real-Time Workshop to develop the ball and beam system, by equipping the costumed device driver to replace the mathematical model to carry on the real-time control. As the result, we know that this method is available. This method is advantageous for designing person to concentrate on the system design, leaves out time and energy consumption in software design、control algorithm and interface, effectively reduce the development period. The paper summarizes the definition of the costumed device driver, this method provide the convenient for更多还原