The Design And Simulation Of Ball And Beam System

In the teaching of control theory, ball and beam system is frequently used as a vivid and interesting experiment. The ball's position depends only on the adjusting of the swing beam. And the system is a typical experimental device with open-loop unstable pole. Ball and beam system has vivid visual teaching characteristics.This system is a nonlinear instable system. In the field of control, the modeling and control design of nonlinear unstable system need to overcome the many difficult issues, so it is necessary to study in the laboratory first. But most of the unstable system is very dangerous, and therefore become the main obstacles in laboratory research. Ball and beam system is the best way to overcome such contradictions, which is not only simple and safe but also has important dynamic characteristics of nonlinear instable system.In this paper we research and develop a kind of ball and beam system based on embedded controller, according to the requirement of the courses of control theory.This paper discusses the mechanic design of the base board and its fastener, brace and its fastener, V-groove, V-groove pan. Then choose and design of driver motor, testing components, angle sensors, Displacement sensors and motion control program and choose some of the matching circuit design. After that we treat this nonlinear instable ball and beam system as the actual control object, respectively build the mathematical model based on kinematics and dynamics. With the finished model, we use the classic PID control theory, Root Locus controller and pole configuration of modern control theory and optimal LQR controller as object to make simulation analyse in MATLAB. Finally,Cascade Double Loop PD controller clubs is actual used to control the system, and its main parameters satisfy the requirements to meet the teaching experiment.