Analysis And Design Of Ball And Beam Control System

Ball and beam system is one of the most classical laboratory equipments to study and research control theory. Not only its structure simple and safe, but also it covers many characteristic of classical and modern controlled objects and has the important dynamic character of nonlinear and unstable system. Ball and beam system can directly reflect the control effect of the controller. Ball and beam system can be used for the realization of the existing control theory and methods, and can be used as new theories and methods of testing tools. As a classical control object, ball and beam system is widely used in the study of control theory.First of all, the thesis analyse the working principle and basic composition of the ball and beam system. The mathematic model of ball and beam system is set up and linearized in the equilibrium point, so as to get the linear model. Using MATLAB/SIMULINK software platform, the simulation mode is built. The ball and beam system is an unstable system by analyzing the open-loop step response curve.Secondly, the thesis design and simulate a traditional PID controller for ball and beam system, and analyze the performance, merit and demerit of the controller. Via fuzzy control theory, the conventional fuzzy controller is designed and simulated in this thesis, and the control characteristic, as well as the advantage and the disadvantage are analyzed thereafter. Due to fixed quantificatiion factor, proportion factor and parameter in the conventional fuzzy controller, the fuzzy controller with modifying factor and parameter self-tuning fuzzy controller are designed respectively. Both of the two fuzzy controllers have improved static and dynamic performances compared with the conventional one. According to the shortcomings of fuzzy control, fuzzy control and PID control are combined to design a fuzzy PID controller. It turns out that fuzzy PID controller has high precision controlling, no stabilizing error and better dynamic performance. It has a good control effect of ball and beam system.Then, the thesis analyse the noise disturbance in ball and beam system. Some simulations are carried out to analyse the performance of PID controller, conventional fuzzy controller, the fuzzy controller with modifying factor and fuzzy PID controller of ball and beam system based on Kalman filter. After the comparison of the control effect between before and after the controller based on Kalman filter, it is known that Kalman filter in ball and beam system is quite important to achieve a good control performance.Finally, we sum up the thesis and prospect for the future research work.