Positioning Control And Trajectory Tracking Of Ball&Plate System

The theory basis of the paper is variable universe adaptive fuzzy control, in order to achieve cricket's positioning control and trajectory tracking. As we all know, Ball&Plate System is an extension of classical control object ball and beam system. It is a multivariable, nonlinear and complex underactuated dynamic systems, it is also typical experiment platform of control theory, and mainly used to test the effectiveness of various algorithms.In this paper, we use Lagrange equation to model the Ball&Plate System which can ignore interference factors, and make two models of different control. Firstly, this paper analyzes the reasons of using angle model, and proves that the model is controllable within a certain range. Then it describes the theoretical basis of several controllers, and improves variable universe adaptive fuzzy control. Under which simulations based on model show that this new type of variable universe adaptive fuzzy control system is effective for Ball&Plate control. By signal response and control variables, we compare Ball&Plate System's simulation under the effect of several controllers, and get that position-type PID(P-PID) response is better. If the control signal is too big, it isn't appropriate for the actual control; The control signal of incremental PID(Z-PID) is not beyond the range, the signal responding is poor; The fuzzy control with the variable universe stretching factor is significantly different from before, it turns out that the improved fuzzy controller is better for the Ball&Plate System.In addition, this paper describes the hardware structure of the experimental platform, the working mechanism of the core components, and the angle of connecting rods. Finally, this paper gives positioning and real-time control on the Ball&Plate System under the effect of different controllers, and analyzes the data objectively.