横杆单端铰接的球杆系统设计及敏感因素分析

Sensitive Factors Analysis and Design of Single-end Hinged Ball & Beam System

以球杆系统为研究对象,设计了一种横杆单端铰接的球杆系统。该系统通过旋转电位计设定小球在横杆上理想位置,通过高频近距离激光位移传感器检测小球的实际位置,由单片机内部的PID算法控制输入到滚珠丝杠电机驱动器的PWM输出频率,使滚珠丝杠电机正、反转,从而实现小球停在设定理想位置。在Matlab/Simulink中进行建模仿真对影响系统稳定性的不同敏感因素进行研究。结果表明小球初始位置、滑动摩擦对系统稳定性产生影响。

With the ball ＆ beam system as the researching object,a single-end hinged ball ＆ beam system was designed.In this system,a rolling potentiometer was used to set the ball ideal position on the beam,a high frequency short distance laser displacement sensor was utilized to detect the ball real position,and then the PWM frequency of output was calculated by the MCU internal PID algorithm.When the PWM frequency was send to the ball screw motor drive,the drive made the ball screw motor rotate to realize the ball stay at the initial setting position.The sensitive factors was tested in the Matlab/Simulink environment.The results show that the initial position and sliding friction can influence the system stability.