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14Control Tutorials for MATLAB and Simulink - Ball & Beam_ System Analysis

Matlab hướng dẫn prj 2_14

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9 views

14Control Tutorials for MATLAB and Simulink - Ball & Beam_ System Analysis

Matlab hướng dẫn prj 2_14

Uploaded by

tongvocute
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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3/25/2020 Control Tutorials for MATLAB and Simulink - Ball & Beam: System Analysis

Tips Effects Search Control Tutorials

TIPS ABOUT BASICS HARDWARE INDEX NEXT ►

INTRODUCTION CRUISE CONTROL MOTOR SPEED MOTOR POSITION SUSPENSION INVERTED PENDULUM

SYSTEM

MODELING Ball & Beam: System Analysis


Related Tutorial Links
ANALYSIS
Intro to Sys Analysis
Key MATLAB commands used in this tutorial are: tf , pzmap , step
Time Resp Activity
CONTROL
Related External Links
PID
Analysis in MATLAB
ROOT LOCUS Video

FREQUENCY
Time Resp Video

STATE-SPACE

DIGITAL

Contents

SIMULINK System model

Pole/zero map
MODELING
Open-loop step response
CONTROL

SIMSCAPE
System model

The transfer function from the gear angle ( ) to the ball position ( ), as derived in the Ball & Beam: System Modeling page.

ctms.engin.umich.edu/CTMS/index.php?example=BallBeam&section=SystemAnalysis 1/4
3/25/2020 Control Tutorials for MATLAB and Simulink - Ball & Beam: System Analysis

(1)

Open a new m-file and add the following code to create a transfer function model in MATLAB.

m = 0.111;
R = 0.015;
g = -9.8;

L = 1.0;
d = 0.03;
J = 9.99e-6;

s = tf('s');
P_ball = -m*g*d/L/(J/R^2+m)/s^2

P_ball =

0.21
----

s^2

Continuous-time transfer function.

Pole/zero map

The Ball and Beam system is a type II system which has two poles at the origin, as seen in the pole/zero map below. Since the poles are
not strictly in the left half plane, the open loop system will be unstable as seen in the step response below.

ctms.engin.umich.edu/CTMS/index.php?example=BallBeam&section=SystemAnalysis 2/4
3/25/2020 Control Tutorials for MATLAB and Simulink - Ball & Beam: System Analysis

pzmap(P_ball)

Open-loop step response

Now, we would like to observe the ball's response to a step input on the motor servo gear angle (1-radian step). To do this you will need
to add the following line to your m-file.

step(P_ball)

ctms.engin.umich.edu/CTMS/index.php?example=BallBeam&section=SystemAnalysis 3/4
3/25/2020 Control Tutorials for MATLAB and Simulink - Ball & Beam: System Analysis

From this plot it is clear that the system is unstable in open-loop causing the ball to roll right off the end of the beam. Therefore, some

method of controlling the ball's position in this system is required. Several examples of controller design are provided in these tutorials to
address this problem.

Published with MATLAB® 9.2

All contents licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.

ctms.engin.umich.edu/CTMS/index.php?example=BallBeam&section=SystemAnalysis 4/4

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