自抗扰控制器在球杆系统中的应用与研究  

作　　者：翟光雯 陈海峰 

机构地区：[1]芜湖市科技馆,安徽芜湖241000 [2]安徽工程大学,安徽芜湖241000

出　　处：《科技创新与应用》2022年第24期94-97,102,共5页Technology Innovation and Application

摘　　要：球杆系统具有不稳定性、非线性、非最小相位系统等特点,且存在死区,是一个典型的非线性系统,因此对球杆控制系统的控制性能造成较大的影响。为提升球杆控制系统的控制精度,设计一种自抗扰控制策略,对球杆系统小球进行控制。通过对球杆控制系统的仿真,从而验证所设计的自抗扰控制器的控制性能,从结果显示,所设计的控制器具有一定的工程意义。The ball and beam system has the characteristics of instability,non-linearity,non-minimum phase system,etc.,and there is a dead zone.It is a typical non-linear system,so it has a greater impact on the control performance of the ball and beam control system.In order to improve the control accuracy of the ball and beam control system,an active disturbance rejection control strategy is designed to control the small balls of the ball and beam system.Through the simulation of the ball and beam control system,the control performance of the designed auto disturbance rejection controller is verified.The results show that the designed controller has certain engineering significance.

关 键 词：球杆系统 自抗扰控制 非线性系统 数学模型 动能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]