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首页> 外文期刊>International Journal of Mechanical Engineering Education >A Pneumatically Actuated Ball And Beam System
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A Pneumatically Actuated Ball And Beam System

机译：气动球杆系统

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摘要

A ball and beam balancing mechanism actuated by a pneumatic rotary drive is presented in this paper. A laboratory model of the pneumatically actuated ball and beam system has been developed within student projects during courses related to mechatronics and automatic control. A mathematical model of the nonlinear system is developed using Lagrange's equations. The model is linearized at the equilibrium point, and the linear model has been implemented for the design of control algorithms. The cascade proportional derivative (PD) controller and the optimal linear quadratic regulator have been applied and experimentally verified. The utilization of a pneumatic actuator introduces additional dynamic terms and nonlinear effects, and that makes the balancing mechanism even more difficult to control. The methods discussed in this paper have good potential application to other control techniques and offer great possibilities for giving students a better understanding of the theoretical and practical aspects of nonlinear system control.
机译：本文提出了一种由气动旋转驱动装置驱动的球梁平衡机构。在与机电一体化和自动控制有关的课程中，学生项目中已经开发了气动球和梁系统的实验室模型。使用拉格朗日方程式开发了非线性系统的数学模型。该模型在平衡点处被线性化，并且已经为控制算法的设计实现了线性模型。级联比例微分（PD）控制器和最优线性二次调节器已被应用并进行了实验验证。气动执行器的使用引入了额外的动态项和非线性效应，这使得平衡机制更加难以控制。本文讨论的方法在其他控制技术中具有良好的潜在应用，并为使学生更好地理解非线性系统控制的理论和实践方面提供了巨大的可能性。

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