球杆系统的PID控制.doc

摘 要 本次设计的目的是掌握对实际物理模型的建模方法，掌握在Matlab中利用Simulink对实际物理模型分析的方法。它的要求是控制系统中小球的位移。我们采用对系统建立数学模型然后用Simulink仿真来实现直观的物理模型。 球杆控制系统球杆控制系统球杆控制系统整个装置由球杆执行系统,控制器和直流电源等部分组成PID控制算法对球杆控制系统的变革性影响做了深入的探讨和分析。并重点使用数学建模、使用MATLAB软件对球杆控制系统的球杆控制系统自动控制PID控制算法MATLAB ABSTRACT ?? The purpose of this design is the master of the actual physical model of the modeling method, the use of the hands of Matlab Simulink of the actual physical model of the way. It is the request of the control system of small and medium-displacement. We use the system and the establishment of mathematical models used to achieve visual Simulink simulation of the physical model.  Driver control system to control theoretical research is the typical model for the stability control system that is the balls location, because the ball has a certain quality, must be rolling back and forth on the slider, until stability, the very interesting , And many abstract theoretical concepts such as the control system stability, controllability and anti-jamming systems, and so on, through the club can be intuitive control system demonstrated by the experiments. Driver control of the study we learn of automatic control system is very intuitive, simple, and can verify their control theory and control algorithms. The implementation of the entire system installed by the driver, controller and DC power supply and other components. Driver Execution System from a V-shaped orbit and composition of a stainless steel ball. V-groove track to the side of stainless steel rod, the other side of the linear displacement resistor. As the ball rolling on the track, stainless steel rod by measuring the output voltage can be measured ball in orbit position. V-groove track at one end fixed, and the other end by DC motor (DC motor) after the two gear reducer, and then fixed by the large gear on the link led to reciprocating movement from top to bottom. V-groove track with the angle to the horizon by measuring the rotation angle of gear and access to sim