Club Balance System Control Study

With the current development of technology for the system control precision, speed and anti-interference requirements are getting higher and higher, the research for new control theory and improvement of traditional methods are an important part of control theory. Ball-beam system is an experimental apparatus which is simple, safe and nonlinear unstable system with an important dynamic characteristic. Ball-beam system which can verify some control theory and control methods can be used as a new control theory and methods of testing tools.This article first overview the meaning of study of the Ball-beam system summarizes the status of the Ball-beam systematic research progress and results. Briefly compared several linearization methods and control methods commonly used in ball-beam system, get the key points and key issues through their respective comparative advantages and disadvantages of ball-beam system control.This paper focuses on the mathematical model, control method of ball-beam system. First, by analyzing the structure of the ball-beam system, using Lagrange's equation in the sports system established the mathematical model of ball-beam system in the form of generalized coordinate system. On this basis, linear ball-beam system mathematical model with several commonly used method, the model which controlled by common method still have big error in some area, so for the non-linear system, using a nonlinear PID control method with track differential controls the nonlinear model of ball-beam system. Track the input and output signals and the differential signal to improve the system's stability and adaptability for complex signals. At the same time linear combination the error signal and it's integral and differential signals to adapt the model of nonlinear systems. At last, tuning three parameters of non-linear combination with fuzzy. Tuning is based on the parameters of fuzzy PID controller tuning principles, and on this basis to be modified in order to establish a non-linear controller.In this paper, carrying out the simulation of traditional PID control, tracking differential PID control, fuzzy PID control and fuzzy PID control of tracking-differentiator, respectively made without interference, the existence of measurement noise and the system in the case of mutation under the MATLAB\SIMULINK environment, by comparison of simulation results verify the tracking differential fuzzy PID controller is effective to reduce the system overshoot, reduce adjustment time, the advantages of increased stability of the system, but also for the system with a mutation in input signal.