Ball - Bar System Development, Self-tuning Control And Its Monitoring And Control Equipment, The Usb Driver

Ball & Beam System is a typical experimental equipment in the filed of control, which is widely used in designing and testing controllers. The aim of this research is to transform from RS/232 to USB the communication method between Ball & Beam System and the PC, so that the performance of the measurement & control system for the Ball & Beam System can be improved. On the basis of this, this research studies the self-tuning control of Ball & Beam System. The studies on these aspects have been done as following:1. The discrete mathematical model of Ball & Beam System is established. The mathematical models of Ball and Beam Mechanisam and DC Motor are studied and Z-Transformation with zero-order holder is applied to reduce the discrete mathematical models, which is suitibal for self-tuning control.2. Self-tuning controller for Ball & Beam System is designed. It Develops the Pole-placement controller and Generalized Minimum Variance controller for Ball & Beam System, analyzes identifiability of closed-loop system, and designs Recursive Least Square Estimator for Ball & Beam System.3. Simulations and experiments of self-tuning control for Ball & Beam System are conducted on LabVIEW. The results of simulation and experiments are analyzed. The results show the self-tuning control of Ball & Beam System has satisfying performance.4. The steady-state behavior of Pole-placement Controller is studied, and the paper points out that the steady-state performance of Pole-placement Controller is similar to that of a P Controller.5. The experiments in this paper are conducted on the measurement & control system based on USB, which is developed by us, hence, the USB driver for the measurement & control device is developed and a Serial of experiments is conducted to test the stability of the driver.