Research On Controlling Ball And Plate System

Ball and plate system is the two-dimensional extension of which based on the ball and beam system,which is the typical non-linear system with multi-state variables and multi-input and multi-output.The final result is that making a rollable ball moving freely along with a particular trajectory or holding at a fixed point on a flat plate with two axes of perpendicular rotation,the general strategy is to feed back the real-time position of the ball through the sensing device and take it as the input of system.The rotated angle is produced by calculation of the controller,the closed loop system control movement of ball.Nonlinear and multi-state variable properties of the system,which is especially suitable for research experiments like control algorithm in classical control theory and modern control methodology.In this paper,the design of mechanical system and control system are all finished by myself.Firstly,design the mechanical system of the cricket system.Based on this,the dynamic analysis and kinematics of the ball is carried out,then establishing a complete kinetic equations of cricket system with Lagrange equation,this paper solves a simplified model based on different focuses,and giving a decription of the state space equation about the entire close-loop system.According to the characteristics of multi-variables,PID and LQR control algorithms respectively,making experiment based on two algorithms to compare the advantages and disadvantages of the algorithms.The feedback of ball's position based on visual recognition technology,comparing the impact about different feedback of the system.Because the adjusting process of cricket system is subject to many external factors,so the designed controller needs to be further tested in the experiment.During the experiment,the influence of integral term and cascade joint control on the cricket system was investigated.The results show that the fixed point stability and trajectory tracking of the ball has a better performance,as long as the system uses the platform and related algorithms.