Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8206
標題: 小型磁浮系統之製作、模型建構與定位控制
Manufacture, Modelling, and Position Control for a Small Scaled Magnetic Levitation Mechanism
作者: 傅景崑
Fu, Ching-Kun
關鍵字: Magnetic Levitation;磁浮
出版社: 電機工程學系所
引用: [1] M. Morishita, T. Azukizawa, S. Kanda, N. Tamura and T. Yokoyama, “A New MAGLEV System for Magnetically Levitated Carrier System”, IEEE Trans. Vehicle Technology, Vol. 38, No. 4, pp. 230-236,Nov 1989. [2] T.H.Wong, “Design of Magnetic Levitation Control System Anundergraduate Project”, IEEE Trans. Education, vol. 29, No.4,pp.196-200,1986. [3] David K. Cheng, Field and Wave Electromagnetics 2/e. Addison Wesley, 1996. [4] R.K.H.Galvao, “A Simple Technique for Identifying a Linearized Model for a Didactic Magnetic Levitation System”, IEEE Trans.Education, Vol.46, No.1,pp.22-25,Feb 2003. [5] T.Namerikawa and M.Fujita, “Modeling and Robustness Analysis of a Magnetic Suspension System Considering Structured Uncertainties”, IEEE Conf.Decision & Control.USA, ,pp.2559-2564, Dec 1997. [6] Code Composer User’s Guide, Texas Instruments company, 1998. [7] D.L.Trumper and S.M.Olson and P.K.Subrahmanyan, “Linearizing Control of Magnetic Suspension Systems,” IEEE Trans. Control System Technology, vol. 5, no. 4, pp. 427-438, 1997. [8] Data sheet, TMS320LF2407A DSP Controllers Texas Instrum e nts, SPRS145H – 2000. [9] W. Barie and J. Chiasson. “Linear and Nonliner State Space Controllers for Magnetically Levitated”,Int.J.Systems Science, Vol. 27,No.11, pp.1153-1163,1996. [10] 陳政宏,“一種新型磁浮控制系統之研究”,碩士論文,電機工程系,國立成功大學,1998。 [11] 沈金鐘,PID 控制器:理論、調整與實現,滄海書局,2001。 [12] 楊佳撰,磁浮車控制系統之設計與研究,碩士論文,國立中央大學,2000。 [13] 徐啟曜,磁浮定位控制系統之研究,碩士論文,國立中央大學,2002。 [14] 新華電腦 , DSP 從此輕鬆跑 (TI DSP320LF2407A) . 台科大 圖書股份有限公司 , 2003。 [15] 陳永平,”可變結構控制設計”,全華科技圖書公司,1999。 [16] T.Sato and Y. Tanno, “Magnetic Bearing Having PID Controller and Discontinuous Controller”, IEEE IECON, Vol. 3, pp.2122-2125, Nov 1993. [17] J.H. Lee, P. E. Allaire, G. Tao, and X. Zhang, “Integral Sliding Mode I Control of a Magnetically Suspended Balance Beam: Analysis, Simulation, and Experiment”, IEEE Trans. Electronics, Vol.6,No.3, pp.338-346,Sept 2001. [18] J. Y. Hung, “Magnetic Bearing Control Using Fuzzy Logic”, IEEE Trans. Industry Applications, Vol. 31, No. 6, NoV,PP. 1492-1497 ,Dec 1995. [19] Z. J. Yang and M. Tateishi, “Adaptive Robust Nonlinear Control of a Magnetic Levitation System,”Automatica, Vol. 37, pp.1125-1131,2001.
摘要: 
本論文主要為介紹磁浮球定位控制系統的硬體架構並建立其線性化數學模型,以達到位置追蹤控制之目的,浮球控制系統由磁浮受控體、位置感測器、電流驅動器及控制器四部份所組成,包括雷射感測系統,它的功能為偵測鐵球之位置;控制器為控制磁球之位置;電流驅動器部份,利用內迴路PI控制之PWM電流驅動器,提供電磁鐵線圈的電流,再由外迴路以雷射感測系統作偵測,以產生平衡鐵球重力的磁力。磁浮裝置是一非線性且不穩定的受控體,經由線性化後,利用順滑模態方法設計控制器,並以DSP數位信號處理器方式,配合模擬與實驗來驗證此數學模型之可行性。

In this thesis, a position tracking controllers for a magnetic levitation system is developed.The plant consists of a solenoid and a ball made of steel. The solenoid is wounded by a coil,which is energized with a PWM current drive for levitation force control. The position of the ball is sensed optically by a laser range finder. A magnetic levitation system is intrinsically unstable and nonlinear. We first derived the linearized dynamic model and then validated the model by experiments.The control design is carried out with two steps-the inner-loop current control and the outer-loop position control. The inner-loop is implemented by a PI control method. In the outer-loop,sliding mode control is employed. The controller is realized by adigital signal processor.
URI: http://hdl.handle.net/11455/8206
其他識別: U0005-2008200807484200
Appears in Collections:電機工程學系所

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