| 球棒系统的近似线性化及Matlab实现 |
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| 引用本文： | 单纯,陈晓龙. 球棒系统的近似线性化及Matlab实现[J]. 计算机工程与设计, 2008, 29(23) |
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| 作者姓名： | 单纯 陈晓龙 |
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| 作者单位： | 1. 广东技术师范学院,广东,广州,510090
2. 茂名学院,计算机与电子信息学院,广东,茂名,525000 |
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| 基金项目： | 广东省科技计划基金项目，茂名学院科学研究基金项目 |
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| 摘 要： | 以典型多变量非线性系统一球棒系统为研究对象,用微分几何理论中的状态反馈的近似线性化方法设计该非线性系统的控制器.无论小球在棒的什么位置,棒的角度如何,该控制方法都能使小球稳定在棒的中心位置.利用数学工具Mat-lab仿真此过程,给出了Matlab具体实现模块,结果表明状态反馈方法的有效性.
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| 关 键 词： | 球棒系统 鲁棒相对阶 近似线性化 状态反馈 微分几何 |
Ball and beam approximate linearization and realization of Matlab |
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| SHAN Chun,CHEN Xiao-long. Ball and beam approximate linearization and realization of Matlab[J]. Computer Engineering and Design, 2008, 29(23) |
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| Authors: | SHAN Chun CHEN Xiao-long |
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| Affiliation: | SHAN Chun1,CHEN Xiao-long2(1.Guangdong Polytechnic Normal University,Guangzhou 510090,China,2.School of Computer , Electronics , Information,Maoming College,Maoming 525000,China) |
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| Abstract: | The typical multi-variable and nonlinear Ball-and-Beam system is studied, ant its controller is designed by state feedback approximate linearization of differential geometry modern control theory.No matter where the ball is, or what is the beam's angle, this control method can make the ball station in the center of the beam.Mathematic tool Matlab is used to simulate this process, and the model realization is given, the outcome manifest that this state feedback method is valid. |
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| Keywords: | ball-and-beam system robust relative degree approximate linearization state feedback differential geometry |
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