基于Quanser仿真平台的滚珠和梁控制系统研究  

Study of Ball & Beam Control System Based on Quanser Simulation Plant

作　　者：张海华[1] 许镇琳[1] 

机构地区：[1]天津大学电气与自动化工程学院,天津300072

出　　处：《计算机仿真》2005年第1期258-261,共4页Computer Simulation

摘　　要：滚珠和梁控制系统是基于加拿大Quanser公司含实物实时仿真平台研究位置随动系统的一套装置。该系统的核心是设计系统的控制器 ,使其控制梁上滚珠跟随已知滚珠运动。该文介绍了系统的组成 ,建立了系统的数学模型 ,并设计了系统的控制器。控制器采用传统PID控制和模糊自适应PID控制两种控制方案。最后经仿真验证 ,模糊自适应PID控制与传统PID控制相比 ,具有超调小、鲁棒性强等优点 。Ball & beam control system is based on Canada Quanser containing practicality real-time simulation plant. It researches position following system. The core of the system is to design the system's controller for controling the movement of the ball on the beam following the known ball. The system's components are introduced. The mathematics model is built. And the controller is designed. The traditional PID control and fuzzy adjustable PID control are both used for designing the controller. And the controller is verified via simulation that the Fuzzy-PID controller is feasible for the system by decreasing the overshoot and enhancing the robustness.

关 键 词：滚珠和梁 实时仿真 比例积分微分控制 模糊自适应 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]