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dc.contributorWu-Chung Suen_US
dc.contributor.authorKao, Wei-Lunen_US
dc.identifier.citation[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-An Undergraduate 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] TEXAS INSTRUMNET, TMS320LF/LC240Xa DSP Controllers Reference Guide, Literature Number: SRRU357B Revised, TEXAS, Dec. 2001. [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 Instruments, SPRS145H – 2000. [9] W. Barie and J. Chiasson, “Linear and Nonlinear 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] 董勝源,DSP TMS302LF2407與C語言控制實習,長高出版社,2004。 [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] 傅景崑,“小型磁浮系統之製作模型建構與定位控制”,碩士論文,國立中興大學電機工程學系所,2008。 [17] T. Sato and Y. Tanno, “Magnetic Bearing Having PID Controller and Discontinuous Controller”, IEEE IECON, Vol. 3, pp. 2122-2125, Nov. 1993. [18] J. H. Lee, P. E. Allaire, G. Tao and X. Zhang, “Integral Sliding Mode IN Control of a Magnetically Suspended Balance Beam: Analysis, Simulation, and Experiment”, IEEE Trans. Electronics, Vol. 6, No. 3, pp. 338-346, Sep. 2001. [19] J. Y. Hung, “Magnetic Bearing Control Using Fuzzy Logic”, IEEE Trans. Industry Applications, Vol. 31, No. 6, pp. 1492-1497, Nov/Dec 1995. [20] Z. J. Yang and M. Tateishi, “Adaptive Robust Nonlinear Control of a Magnetic Levitation System”, Automatica, Vol. 37, pp. 1125-1131, 2001. [21] V. I. Utkin , “Sliding mode control design principles and applications to electric drives” , IEEE Trans. Industrial Electronics, Vol. 40, No. 1, Feb. 1993. [22] Jyh-Shing Roger Jang, "Audio Signal Processing and Recognition," (in Chinese) available at the links for on-line courses at the author''s homepage at
dc.description.abstractIn 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. In the inner-loop control, the current is passed through a low-pass filter, compared with the command current, and then accomplished the current control objective by sliding mode. For the outer-loop control, there is a laser sensing system for the detection. The command current is first determined by a PI controller. Thus the coil of the electromagnet produces a magnetic force to balance the gravity of the steel ball. These controllers are realized by a digital signal processor.en_US
dc.description.tableofcontentsContents Acknowledgement i 中文摘要 ii Abstract iii Contents iv List of Figures vi List of Tables viii Chapter 1 Introduction 1 1.1 Motivation and Objectives 1 1.2 Literature Review 2 1.3 Papers Architecture 2 Chapter 2 Maglev System Hardware Architecture and Operating Principle 4 2.1 Maglev System Architecture 5 2.2 Structure Dimensions 7 2.3 Basic Principles of Magnetic Levitation Control System 7 2.4 Principle of Position Sensor Circuit 9 2.5 Current Drive 12 2.6 Coil Inductance Value 15 2.7 Description for Control Platform 17 2.7.1 Overview of TMS320LF2407A 17 2.7.2 Event Manager Modules 21 2.7.3 General-Purpose (GP) Timers 23 2.7.4 PWM Characteristics 23 2.7.5 Quadrature Encoder Pulse (QEP) Circuit 24 2.7.6 Enhanced Analog-to-Digital Converter (ADC) Module 24 Chapter 3 Mathematical Models of Construction and Analysis 26 3.1 Magnetic Properties 26 3.2 Mathematical Model of The System 27 Chapter 4 Maglev Positioning Control System Design 29 4.1 Program of Control Positioning System 29 4.2 Outer Loop Control 30 4.3 Inner Loop Control 31 4.3.1 Low Pass Filter Design 32 4.3.2 Sliding Mode Control 33 4.3.3 Discrete sliding mode 34 4.3.4 Sliding Mode Control Design 36 Chapter 5 Simulation and Experimental Results 38 5.1 Outer Loop Control Experimental Results 38 5.2 Inner Loop Control Experimental Results 39 5.2.1 Results of Filter 39 5.2.2 Results of Sliding Mode Control 40 Chapter 6 Conclusions and Future Work 42 6.1 Conclusions 42 6.2 Future Work 42 References 44 List of Figures Figure 2.1 Nonlinear magnetic levitation control system equipment 6 Figure 2.2 Maglev control system 6 Figure 2.3 Maglev system architecture diagram 8 Figure 2.4 Block diagram of the control system 8 Figure 2.5 Relationship between sensor voltage Y and the air gap length H 10 Figure 2.6 Graph of measuring points and straight line equation 11 Figure 2.7 Equivalent circuit of the electromagnet system 12 Figure 2.8 Block diagram of the current driver (PWM) 13 Figure 2.9 Measuring points and the equation line 14 Figure 2.10 Coil Current 15 Figure 2.11 Data of currents 16 Figure 2.12 Experiment current and simulation current 16 Figure 2.13 TMS320LF2407A pin out assignment 18 Figure 2.14 Function block diagram of the 2407 DSP controller 19 Figure 2.15 TMS320LF2407APGEA hardware 20 Figure 2.16 Event-Manager Block Diagram 22 Figure 2.17 Block Diagram of the ‘240x ADC Module 25 Figure 3.1 Simple system 27 Figure 4.1 PI control block diagram 30 Figure 4.2 Outer loop control system block diagram 30 Figure 4.3 Current with noise, command current = 0.18A 31 Figure 4.4 Control system block diagram 31 Figure 4.5 Sliding conditions schematic 34 Figure 4.6 Gradually diverging of smooth function 35 Figure 4.7 Two-layered sliding mode 36 Figure 5.1 Simulation for the error of distance h by Matlab 38 Figure 5.2 Experimental of iron ball position 38 Figure 5.3 Current through PWM controller with IIR-LPF 39 Figure 5.4 Current through PWM controller with FIR-LPF 39 Figure 5.5 Current with IIR filer or not 40 Figure 5.6 Current with IIR filer or not 40 Figure 5.7 Current with IIR filer or not 41 Figure 5.8 Current with IIR filer or not 41 List of Tables Table 2.1 Structure dimensions of maglev system 7 Table 2.2 Laser sensor ZX-LDA11-N detailed characteristics 9 Table 2.3 Relationship between sensor voltage y and the air gap length h 10 Table 2.4 Relationship between duty cycle d(t) and coil current i(t) 13 Table 2.5 Module and Signal Names for EVA and EVB 22zh_TW
dc.subjectmagnetic levitation mechanismen_US
dc.subjectsliding mode controlen_US
dc.titleModeling and Sliding Mode Control for a Small Scaled Magnetic Levitation Mechanismen_US
dc.typeThesis and Dissertationzh_TW
item.openairetypeThesis and Dissertation-
item.fulltextwith fulltext-
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