Control Design Of Ball-and-Beam System

Ball and Beam system is the common controls system in the laboratory of the university, usually uses for testing the control strategy. Because the Ball and Beam have many similarities with the robot and a lot of actual system's models can be deemed to Ball and Beam system, the domestic and foreign scholars pay attentions to research of the system.In the first part, the article start from the Ball and Beam system movement equation, get the Ball and Beam system physical property; According to the experiment, we find that the real problem of the ball-and-beam system is not the nonlinear behavior under large excursions, but the limit cycle around the equilibrium point. It is pointed out that the limit cycle is caused by the hysteresis behavior of the ball during rolling. A pole placement method is proposed to avoid the limit cycle.Simulation of the control system is an indispensable means for studying the control system. Through simulation, the designers can find out the best control plan for the model. Because the deference between the concrete system and the model, the plan is not very effective when it's applied to the concrete system. It need be revised again and again and even designed again. This leads to the long design period and high costs. How to integrate simulation with testing the practical results in a platform is a key to conquer the problem.In the second part, the article use MATLAB/SIMULINK/Real-Time Workshop to develop the ball and beam system, by equipping the costumed device driver to replace the mathematical model to carry on the real-time control. As the result, we know that this method is available. This method is advantageous for designing person to concentrate on the system design, leaves out time and energy consumption in software design,control algorithm and interface, effectively reduce the development period. The paper summarizes the definition of the costumed device driver, this method provide the convenient for...