一种典型多变量非线性系统研究  

Study on a Typical Multi-variable Nonlinear System

作　　者：井海明[1] 刘立嘉[1] 刘永军[1] 

机构地区：[1]石家庄铁道学院计算机系,河北石家庄050043

出　　处：《石家庄铁道学院学报》2004年第3期80-83,共4页Journal of Shijiazhuang Railway Institute

摘　　要：以典型多变量非线性系统——球棒系统为研究对象,用拉格朗日方程建立其数学模型,并用现代控制理论中的状态反馈的方法设计该非线性系统的控制器。无论小球在棒的什么位置,棒的角度如何,该控制方法都能使小球稳定在棒的中心位置。利用工具Matlab进行仿真,结果表明了状态反馈方法的有效性。In this paper,the typical multi-variable and nonlinear Ball-Beam System is studied,and its mathematic model is constructed with Lagrangian equation and a related controller is designed with the state-feedback method of modern control theory.No matter where the ball is or what is the beam's angle, this control method can make the ball stably reaching the center of the beam. The result of simulation of this process with Matlab shows that the state-feedback method is valid.

关 键 词：球棒系统 数学模型 拉格朗日方程 状态反馈 

分 类 号：TP271.02[自动化与计算机技术—检测技术与自动化装置]