球棒系统的建模及反馈控制

Dynamic Model and Control Design for Ball-and-Beam System

以典型多变量非线性系统———球棒系统为研究对象,用拉格朗日方程建立其数学模型,并用现代控制理论中的状态反馈的方法设计该非线性系统的控制器。无论小球在棒的什么位置,棒的角度如何,该控制方法都能使小球稳定在棒的中心位置。利用数学工具Matlab仿真此过程,结果与表明状态反馈方法的有效性。

In this paper,we study the typical multi-variable and nonlinear Ball-and-Beam System, construct its mathematic model by Lagrangian equation and design its controller by state feedback of modern control theory. No matter where the ball is, or what is the beam's angle, this control method can make the ball station in the center of the beam. Use mathematic tool matlab to simulate this process,the outcome manifest that the state feedback method is valid.