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| 有限时间稳定的球杆控制系统设计 |
| Design of Ball&beam Control System with Finite Time Stability |
| 投稿时间：2018-03-10 |
| DOI：10.16018/j.cnki.cn32-1650/n.201901007 |
| 中文关键词: 球杆系统 抗扰动 有限时间稳定 快速性 |
| 英文关键词: ball&beam system anti-disturbance finite-time stability speedability |
| 基金项目:国家自然科学基金项目(51775122)；广东省重大科技计划项目(2016B090912007)；2017年广州大学创新项目(CX2017059)；2018年广州大学创新项目(CX2018051) |
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| 中文摘要: |
| 针对目前球杆系统控制存在不能在短时间内稳定与抗扰动性能差的问题，提出一种有限时间稳定控制方法，用于提高系统的控制性能。通过对球杆系统的结构分析，建立了相应的数学模型，设计了有限时间稳定控制器；运用Lyapunov稳定性理论和齐次性理论对设计的系统进行有限时间稳定性分析；最后通过仿真实验对有限时间稳定控制器与PID控制器的控制效果进行比较。仿真结果表明:有限时间稳定控制器较PID控制在超调量和调节时间等指标方面更加优异，表明所设计的控制方法能让球杆系统有限时间内稳定，同时提升了系统的抗扰动性能。 |
| 英文摘要: |
| Aiming at the problem that the control of ball&beam system can not be stable in a short time and has poor anti-disturbance performance, a finite-time stability control method is proposed to improve the control performance of the system. Based on the structural analysis of the ball&beam system, the corresponding mathematical model is established and the finite-time stability controller is designed. Lyapunov stability theory and homogeneity theory were used to analyze the stability of the designed system in finite time. Finally, the control effects of finite-time stability controller and PID controller are compared through simulation experiments. The simulation results show that the finite-time stability controller is better than the PID control in terms of overshoot and adjustment time. It shows that the designed control method can stabilize the ball&beam system in finite time and improve the anti-disturbance performance of the system. |
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