| 球－杆系统的非线性问题 |
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| 引用本文： | 何朕,王毅,周长浩,刘彦文.球－杆系统的非线性问题[J].自动化学报,2007,33(5):550-553. |
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| 作者姓名： | 何朕 王毅 周长浩 刘彦文 |
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| 作者单位： | 1.哈尔滨工业大学控制科学与工程系 哈尔滨 150001 |
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| 基金项目： | 国家自然科学基金;哈尔滨工业大学校科研和教改项目 |
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| 摘 要： | 球－杆系统真正的问题并不是大行程下的非线性现象, 而是平衡点上的自振荡问题. 分析指出自振荡是由于球在滚动时存在一种滞环特性而引起的. 提出了一种极点配置的方法来避免自振荡. 仿真和实验验证了这一判断. 所采取的稳定措施也是正确的.
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| 关 键 词： | 球－杆系统 自振荡 滞环特性 极点配置 |
| 收稿时间： | 2005-10-24 |
| 修稿时间： | 2006-05-30 |
Nonlinear Problems of the Ball-and-Beam System |
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| HE Zhen,WANG Yi,ZHOU Chang-Hao,LIU Yan-Wen.Nonlinear Problems of the Ball-and-Beam System[J].Acta Automatica Sinica,2007,33(5):550-553. |
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| Authors: | HE Zhen WANG Yi ZHOU Chang-Hao LIU Yan-Wen |
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| Affiliation: | 1.Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001;2.Department of Automatic Control, Harbin Engineering University, Harbin 150001 |
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| Abstract: | The real problem of the ball-and-beam system is not the nonlinear behavior under large excursions, but the limit cycle around the equilibrium point. It is pointed out that the limit cycle is caused by the hysteresis behavior of the ball during rolling. A pole placement method is proposed to avoid the limit cycle. The analysis is verified by simulation and by experiment. The stabilization approach for the ball-and-beam system is also proved to be correct. |
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| Keywords: | Ball-and-beam system limit cycle hysteresis pole placement |
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