BallandBeamDynamics文档格式.docx
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BallandBeamDynamics文档格式.docx
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a.ModeloftheangleprocesswithrespecttothemotorvoltageHφ(s)
b.ModeloftheballpositionwithrespecttothebeamangleHx(s)
Thetotaltransferfunctionfromtheinputvoltagetothevoltagethatindicatestheballpositionisthen
3.MathematicalModelDerivation
a.Modelofbeamanglevs.inputvoltage
TherelationshipbetweentheinputvoltageandtheangleofthebeamisdefinedbytheDCmotortransferfunction.TheDCmotor,usedforanglecontrolapplicationmaybethoughtofasthe‘dirtyintegrator’ortheintegratorwithafilteractionasshowninfigure1onthenextpage.
Figure1:
GeneralDCmotorblockdiagramforanglecontrolapplication
TheKisthemotorconstantandthetauisthemotortimeconstant.Theactualmodelofthemotorusedfortheprojectisshowninfigure2.
Figure2:
ActualblockdiagramoftheDCmotorused
Themeasuredconstantsaresummarizedbelow:
ThereforetheDCmotortransferfunctionbecomes
Modelofballpositionvs.beamangle
Considerthefollowingsketch
Figure3:
Rollingballfree-bodydiagram
Theinclinationisconsideredthex-coordinate.
Letaccelerationoftheballbedenotedas
Theforceduetotranslationalmotionisthen
Thetorquedevelopedthroughballrotationisdeterminedbytheforceattheedgeoftheballmultipliedbytheradiuswhichcanbefurtherexpressedas:
where
J=momentofinertia(forsolidballdefinedbyJ=2/5*mR2)
Wb=angularvelocityoftheball
Vb=speedoftheballalongxaxis
Theequationisarrangedsuchthatthefinalresultisexpressedsolelyintermsofpositionoritsderivativesaswellasvariablesassociatedwiththeball.
Wenowobtaintherotationalforcebydividingtorqueoftheballbyitsradius
substitutingthemomentofinertiaintotheequationweget
Inordertomakethesystemindependentofthemassoftheballwefurtherexpresstheaboveequationsas
rearrangingforx’’gives
weutilizeapproximation
sincetheangleofthebeamwillnotexceed20-30degreeinclination.Thismeansthatinradians,sineoftheangleisapproximatelytheangleitself,sotheequationisfurtherapproximatedas
takingLaplacetransformofpositionwithrespecttoangle(detailsomitted)gives
Theconstantinthenumeratorisatheoreticalconstantthatneglectssurfaceimperfectionsandfriction.Themeasuredconstantisapproximately0.91therefore
Nowtheoveralltransferfunctionofthesystembecomes
where,10.5isanapproximatedconstant.
Theblockdiagramoftheoverallsystemis
Figure4:
Entiresystemblockdiagram
TheMATLABprovideseasyconversionofthesystemintostatespace.
>
num=[000010.5];
den=[0.41000];
[A,B,C,D]=tf2ss(num,den)
TheLQRcontrolcanbeimplementedbychoosingQandRvalues.Thecontrollabilityisverifiedfirstasfollows:
rank(ctrb(A,B))
ans=
4
Thisindicatesthattheballandbeamsystemiscompletelystatecontrollable.NextweselectQandRandcalculateforcontrollergainsinMATLAB.Weget
Q=[10000;
01000;
00100;
00010];
R=1;
[K,S,E]=lqr(A,B,Q,R)
K=
3.604810.50918.74443.1623
S=
10.509155.411150.220519.3050
8.744450.220572.591333.2327
3.162319.305033.232727.6524
E=
-3.9559
-0.9059
-0.6215+0.7044i
-0.6215-0.7044i
Wecanseethatthegainvaluesarereasonableandthereforetheactualsystemmayperformwell.
Thesimulationinsimulinkisdoneusingthefollowingblockdiagram:
Figure5:
Simulinkstatespacemodel
TheScopemeasurestheoutputwhiletheScope1monitorsthecontroleffort.Thesnapshotsareasshowninfigures6and7.
Figure6:
OutputconvergingfromIC
Figure7:
Controleffort
Theinitialconditionwassetto10cmfromthecentreatanangleof5.7degrees.Itiscanbeseenthatthesystemconvergesveryslowly.
Thestatevariablesare:
-angularacceleration
-angleofthebeam
-ballacceleration
-positionoftheball
Thepositionandtheanglecanbemeasureddirectlywithsensorswhiletheangularaccelerationandtheballaccelerationwillhavetobemathematicallyestimated.ThecontrolvoltageVisthen
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