Abstract
Ball&Plate system is a typical multivariable and nonlinear dynamic system. When using the conventional PID control algorithm, the parameter tuning is complicated. This paper uses the Fuzzy-PID method to design the controller, utilizes Fuzzy algorithm to realize the PID parameter self-tuning satisfactorily in positioning control of Ball&Plate system, but there are still problems about its longer settling time, larger overshoot, and larger steady-state error. Considering the effect of Ball&Plate system's modeling error, sensor's measurement noise and motor's process noise, this paper introduces an optimized and simplified Kalman filter in the Fuzzy-PID controller. Experiment results show that after introducing this Kalman filter in the Fuzzy-PID controller, the settling time is shortened by 50%, the overshoot is decreased by 20%, and the steady-state error is reduced by 61%. Therefore, using the Fuzzy-PID controller based on Kalman filter in the positioning control of Ball&Plate system, not only realizes the PID parameter self-tuning, but also improves the real-time performance and positioning accuracy.
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