基于第一性原理模型和最优控制的球板系统建模

2017 21st International Conference on Process Control (PC) Pub Date : 2017-06-01 DOI:10.1109/PC.2017.7976216

F. Dušek, Daniel Honc, K. Sharma

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引用次数: 18

摘要

本文提出了基于第一性原理的考虑力和力矩平衡的球板系统的建模方法。建立了考虑电机、齿轮、钢球和板的非线性动力学模型。将非线性模型在工作区域附近线性化，得到标准状态空间模型。该线性模型用于球板系统的离散最优控制，球的运动轨迹由电机的控制电压控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Modelling of ball and plate system based on first principle model and optimal control

This paper presents modelling of ball and plate systems based on first principles by considering balance of forces and torques. A non-linear model is derived considering the dynamics of motors, gears, ball and plate. The non-linear model is linearized near the operating region to obtain a standard state space model. This linear model is used for discrete optimal control of the ball and plate system — the trajectory of the ball is controlled by control voltages to the motor.

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来源期刊

2017 21st International Conference on Process Control (PC)

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