Backstepping Control Application to a Ball and Beam System

• Main Authors: Hsing-Sen Wang, 王興森
• Other Authors: Ming-Tzu Ho
• Format: Others
• Language: zh-TW
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/9t6dy4

碩士 === 國立成功大學 === 工程科學系碩博士班 === 90 === A ball and beam system has been built. This system consists of an armature controlled DC motor, a machine platform, a ball, a beam, a position-sensor and a potentiometer. This thesis considers the regulation problem of the ball and beam system. Due to existence of the centrifugal force, the system relative degree is not well defined. Moreover, the centrifugal force provides a strong positive feedback and easily leads to the peaking phenomenon. If the beam angle is not well controlled then the ball may fly off the beam. It will induce incorrect the feedback signal of the ball position, therefore produce error feedback control. In this thesis, the backstepping control approach has been used to design a peaking-free ball and beam system. It is a recursive procedure that interlaced the choice of a Lyapunov function with the design of feedback control, and backstepping control often solves stabilization, tracking and robust control problems under less restrictive conditions. In this thesis, using high-gain control parameters, the effect of the centrifugal force on the closed-loop can be arbitrarily attenuated, and the system reachs global asymptotic stability.