球杆系统的数字滤波与控制

Digital Filtering and Control of Ball-beam Experiment System

球杆实验系统是自动化专业开设"自动控制理论"和"运动控制"实验课程的新型实验设备,结构设计巧妙、原理表达直观。但是,由于系统中位置测量传感器的干扰大、准确性差,使得实验过程的不确定性增强,同一实验多次重复的一致性差。为了解决该问题,分析了均值滤波、低通滤波、中值滤波三种数字滤波方法,设计了相应的滤波器,并通过对球杆系统的闭环控制实验测试验证了三种滤波方法能有效地提高小球位置测量信号的准确性,从而提高了闭环系统的控制性能,为球杆系统的进一步优化控制研究提供了保证。

Ball-beam experiment system is a new kind of experimental equipment for the experimental course of automatic control theory and motion control offered in automation major.The structure design is clever and the principle expression is intuitive.However,because of the strong interference and poor accuracy of the position sensor in the system,the uncertainties of the experimental process are strengthened,and the consistence of repeating the same experiment is poor.In order to solve this problem,three digital filtering methods,i.e.,mean filtering,median filtering,and low pass filtering are analyzed,then the corresponding filters are designed.At last closed-loop control experiment of the ball-beam system shows that these three digital filtering methods improve the accuracy of the position measurement of the ball effectively,enhance the performance of the closed-loop system,and provide assurance for further study on optimal control of ball-beam system.