摘要
本文针对小球平面系统的路径跟踪控制问题,采用状态反馈控制极点配置的方法设计小球平面运动系统的控制器。首先根据牛顿力学原理建立小球平面运动控制系统动力学模型,采用现代控制理论方法分析系统的性能,然后根据系统性能要求设计状态反馈控制器,最后通过路径跟踪仿真实验,验证控制器设计的合理性和可靠性。
Considering the path tracking control for ball and plate system,this paper proposes a state feedback controller for the system with pole placement theory.Dynamic mathematic model of the ball and plate system is obtained through Newton mechanics firstly,and then system performance of the model is analyzed by modern control theory,and the state feedback controller is designed according to system performance demand.Finally,the proposed controller is validated through path tracking simulation.
出处
《自动化技术与应用》
2010年第5期13-16,28,共5页
Techniques of Automation and Applications
基金
西南科技大学博士研究基金(编号08zx0111)
关键词
小球平面系统
路径跟踪
极点配置
ball and plate system
path tracking
pole placement
