基于单片机的杆球平衡控制系统的研究

Research on the ball-and-beam balance control system based on MCU

杆球平衡系统是控制理论研究的经典实验对象。针对控制理论教学实践目的，介绍了一种杆球平衡控制教学实验系统。该系统利用直线电位器传感金属球在平衡杆上的位置，采用旋转电位器检测平衡杆的俯仰转角，由单片机程序计算输出电压，驱动电机正、反转，使金属球保持于平衡杆中部。通过建模仿真与实验，分别采用PID和模糊控制算法，该系统都能达到稳定，满足教学使用要求。

Ball-and-beam balance control systems are classical experimental objects of control theory research. A new ball-and beam system for teaching experiments is introduced for the practice purpose. In the system, a linear potentiome ter is utilized to get the ball position on the beam, a rolling potentiometer is used to detect the pitching angle of the beam, and then the voltage is calculated by the MCU for driving the motor to rotate, the ball is always kept at the mid dle of the beam. Experiments and simulations show that the developed system becomes stable finally in PID and fuzzy control respectively, which meets the teaching requirement.