The Design Of Ball And Plate Control System Based On Backstepping

The Ball and Plate system is a typical nonlinear system, An experimental verification is developed for the classical control theory, modern control theory and advanced control theory research platform. The theory basis of the paper is the idea of Backstepping control. The control object is a experiment platform of the Ball and Plate system, The purpose is to achieve cricket’s desired path tracking, which is a twodimensional extension of the Shield and Ball system. The experiment platform does well in testing the feasibility and effectiveness of the control algorithms. Effective control algorithms have a significant effect in many practical control areas. Therefore,this paper has a significance sense in theoretical and practical.First,This paper sets up a nonlinear mathematical model of the Ball and Plate system, and the basic of the model is Lagrange dynamics equation.The way of simplifying the model is choosing two different control analysis.In order to improve the real-time performance of control and prevent concussion phenomenon,We select the angle as the control volume. It put forward back stepping to design a controller. It is a kind of control method that we repeat use a Lyapunov function to judge the stability with design of feedback control, which a ball could on the board or do some exercise set. Such as achieve cricket’s desired trajectory tracking. Then it puts simulation in the environment of the MATLAB/Simulink by using the algorithm. The results show that, for the Ball and Plate system, the Backstepping adaptive algorithm have good effect on trajectory tracking and control error.Finally, the paper introduces the experimental platform of the Ball and Plate system, the system is designed part of hardware. The Ball and Plate system is build accordance with the device selection, the hardware design and software design sequence. The Backstepping control is used to control the Ball and Plate system.