球杆系统的滑模变结构控制

球杆系统是典型的非线性和不稳定性系统,为了提高球杆控制系统的动态性能和干扰抑制特性,本文提出了滑模变结构控制方法。首先建立球杆系统的数学模型,并对非线性模型进行线性化处理。其次针对简化的球杆模型,设计了基于指数趋近律的滑模控制器。仿真和实验结果证明该方法能使小球较快的到达设定位置,同时具有较强的抗干扰能力。

Silding Mode Control of Ball and Beam System

Ball and beam system is typically nonlinear and unstable,in order to improve the dynamic performance and the interference suppression characteristics of ball and beam system,sliding mode control method is proposed in this paper. Firstly,this article establishes and linearizes Mathematical model of ball and beam system. Secondly,it comes up with a strategy of silding mode control with exponential reaching law based on the simplified model. The simulation and experimental rusults prove that this method not only enable the ball reach set point quickly but also has strong anti-interference ability.