摘要
针对球半径、球质量、球转动惯量未知的板球系统,提出了其非线性自适应控制方法。建立了包括球板间摩擦、传动机构、步进电机等环节的板球系统数学模型。结合Lyapunov稳定性理论设计了非线性位置控制器和非线性自适应位置控制器。提出的控制方法经过了仿真验证。跟踪控制结果表明与模糊控制相比,非线性自适应控制方法提高了板球系统的控制精度。
Nonlinear adaptive control method for ball and plate system was proposed while radius of the ball,mass of the ball and inertia of the ball are unknown.Mathematical model of the ball and plate system was built including friction between the ball and plate,transmission sets and step motors.Nonlinear position controller and nonlinear adaptive position controller was designed based on Lyapunov stability theory.The proposed control methods were evaluated by simulations.Simulation results indicate that nonlinear adaptive control method improves control precision for the ball and plate system,compared with fuzzy control method.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2010年第5期1251-1256,共6页
Journal of System Simulation
基金
教育部高等学校博士学科点专项科研基金(20060183006)
吉林大学‘985工程’研究生创新基金(20080212)
