【摘要】 板球系统是一个典型的多变量、非线性控制对象 ,它是杆球系统的扩展 ,适合用以检验各种控制方案 .本文介绍了板球系统及其数学模型 ,就轨迹跟踪问题提出了基于 T- S模型的模糊多变量控制方案 ,并验证了这种控制方案能使系统全局渐进稳定 .仿真实验结果表明本文所采用的控制方案明显优于传统的 PD控制方案 .更多还原

【Abstract】 Ball and plate system is a typical multi-variable nonlinear plant. It’s the extension of the traditional ball and beam problems. Trajectory tracking of a ball on a plate is a problem put forward to inspect diverse control schemes. The ball and plate system and its mathematic model are introduced in this paper. Then a T-S Model Based fuzzy multi-variable control scheme is proposed for trajectory tracking of the ball and plate system. This control scheme is compared with PD control scheme in the simulation experiment. The simulation result shows that our scheme has better performance.更多还原