| The theory basis of the paper is fuzzy adaptive control, taking the Ball-Plate System as the objective, in order to achieve cricket's trajectory tracking. Ball-Plate System is the 2-D expansion of the classic control object Stem-Ball System. It is also a typical experiment platform in the study of control theory with the application of testing the effectiveness of control algorithms.The following is the work of the thesis:(1)Lagrange equation is applied in the mathematical modeling of Ball-Plate System in the condition of ignoring kinds of interference factors. Then the simplified model is obtained and the controllability of the system is proved. Angle acceleration model is chosen as the control object because it can reflect various parameters more fully about the system.(2)The design method of fuzzy adaptive controller is introduced in detail. According to the MIMO system Ball-Plate System, the paper transforms the model, turns it into standard form and applies the fuzzy adaptive control method in the design of the controller of Plate-Ball System.(3)The principle and method of choosing parameters are confirmed according to the principles of control methods to make the control results best. PID control, LQR control and fuzzy adaptive control are used respectively to control Ball-Plate System. The paper adjusts the parameters, observes the simulation results and compare the results.In order to make the simulation results reflect the real situation more fully, simulation experiments are made respectively in the situations of zero initial conditions and nonzero initial conditions. The simulation results show that the control of Ball-Plate System by the fuzzy adaptive controller has ideal results. By comparing signal responses and control variables under different methods, we get that the results are improved by the fuzzy adaptive control method. Both the signal responses and control variables effects are ideal. So the fuzzy adaptive control method is the best for the Ball-Plate System. |
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