球-杆系统的非线性问题  

Nonlinear Problems of the Ball-and-Beam System

作　　者：何朕[1] 王毅[1] 周长浩[1] 刘彦文[2] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001 [2]哈尔滨工程大学自动控制系,哈尔滨150001

出　　处：《自动化学报》2007年第5期550-553,共4页Acta Automatica Sinica

基　　金：国家自然科学基金(60374027);哈尔滨工业大学优秀青年教师培养计划(HIT.20060103;HIT.200210)资助~~

摘　　要：球-杆系统真正的问题并不是大行程下的非线性现象,而是平衡点上的自振荡问题．分析指出自振荡是由于球在滚动时存在一种滞环特性而引起的．提出了一种极点配置的方法来避免自振荡．仿真和实验验证了这一判断．所采取的稳定措施也是正确的．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. The analysis is verified by simulation and by experiment. The stabilization approach for the ball-and-beam system is also proved to be correct.

关 键 词：球-杆系统 自振荡 滞环特性 极点配置 

分 类 号：TP11[自动化与计算机技术—控制理论与控制工程]