摘要
通过建立球杆系统机械模型、角度模型和电机模型,得到这个球杆系统的数学模型,设计PID控制器,通过在线整定控制器参数,提高球杆系统的控制性能.仿真实验结果证明:PID控制效果良好,适应能力较强,具有算法简单、参数整定容易等优点.
Through building the mechanical model,angle model and motor model of ball beam system,the mathematical model was constructed and the PID controller was designed.Through online adaptive PID parameter,the performance of ball beam system was improved.The simulation results show that PID has good performance,adaptive ability,simple algorithm,easy parameters tuning and so on.
出处
《重庆文理学院学报（自然科学版）》
2011年第2期45-47,共3页
Journal of Chongqing University of Arts and Sciences
关键词
球杆系统
PID控制器
系统建模仿真
ball ＆ beam system
PID controller
system modeling and simulation
