Research On Fuzzy Control Algorithm Of Ball-beam System Based On Kalman Filter

Ball-beam system is one of the most classical laboratory equipments for studying control theory. From its external constitution, the structure is simple and safe. From its internal mechanism, ball-beam system covers many characteristics of classical and modern controlled objects, and it has a general nature of complex controlled objects, such as nonlinear characteristic, open-loop instability and so on. As a typical teaching and research equipment, ball-beam system can be used to realize a variety of existing control theories and methods. At the same time, it can also be a testing tool for new control theories and methods. In a word, ball-beam system is a good experimental platform for the teaching, experiment and research of control theory.The thesis is based on the GBB1004ball-beam system which is provided by Googol technology Co., Ltd. Fuzzy controll algorithm and Kalman filter theory for ball-beam system are in-depth studied. The main results are as follows:First, the feature, composition and working principle of ball-beam system are introduced briefly. On this basis, the math model of ball-beam system is established successfully.Secondly, three types of controllers for ball-beam system are designed. At first, PID control and fuzzy control approaches are applied to the ball-beam system, and then according to the simulation results, the thesis analyzes their control performances, advantages and disadvantages respectively. After that, in order to obtain a better dynamic and static performance at the same time, the thesis designs a fuzzy PID control algorithm by combining fuzzy control and PID control algorithms together. The simulation results verify that fuzzy PID controller can improve dynamic performance of the system compared with PID controller, and it can also improve static performance of the system compared with fuzzy controller. Overall,the comprehensive performance of system is improved by using fuzzy PID controller.Then, Kalman filter for ball-beam system is designed.First, the noise of system is deeply analyzed,and then Kalman filter for ball-beam system is designed to filter out the noise interference in the system.After that,by adding noise interference in the simulation, the thesis simulates various controllers of ball-beam system based on Kalman filter. The simulation results show that Kalman filter plays a very important role in the improvement of control effect.After that,in the actual debugging, the experimental platform of ball-beam system is built successfully. And then PID controller, fuzzy controller, fuzzy PID controller and Kalman filter are introduced into the ball-beam system. The experiment results show that the controllers and filter designed in this paper can achieve ideal control effect.Finally,the paper summarizes the work done, and put forward the prospect of further research.