Simulation Research Of Fuzzy Control In Beam And Ball System

The beam and ball equipment is one of the most important platforms to study and research control theory.The research in the beam and ball system can be attributed to the research on the nonlinear and unstable system,this kind of complicated control object is difficult to describe precisely with mathematic formula,and is very difficult to obtain the better effect using the classical control method.Therefore,it's very significant to obtain controlling means without depending on system mathematical model.Based on the beam and ball equipment BW500 that is made in Germany amira company,firstly,the nonlinear equation is established by the Lagrange second equation.The qualitative analysis to the beam and ball system based on linearization is carried on,it can be concluded that the beam and ball equipment is an unstable object which has many characteristic that small controlled coefficient and uneasy control and it has strong self-surge around the equilibrium.Secondly,aiming at the autologous characteristics of BW500 beam and ball equipment,the double closed loop fuzzy control counter measure is designed based on fuzzy control theory.By combining the movement process of the beam and ball equipment,the rule warehouse of the ball's position with the beam's angle and the rule warehouse of the beam's angle with power input is abstracted.The nonlinear model is built under the environment of MATLAB/ simulink.The simulation result proves that the beam and ball system has more quick output response adopting double closed loop fuzzy control.Finally,contrasting PID control to fuzzy control,the design of fuzzy-PID self-setting controller is proposed to the beam and ball system.PID parameters' on-line setting and amendment is accomplished by using fuzzy controller.The rule warehouse of error and error change opposed to the PID parameters is abstracted by analyzing in detail the influences of PID parameters to error and error change . The test is finished under the environment of MATLAB/ simulink,the PID parameters'on-line setting is obtained,and it has the better effect relative to simple fuzzy controller.