Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/9251
標題: 小型磁浮系統之模型建構與順滑模態控制
Modeling and Sliding Mode Control for a Small Scaled Magnetic Levitation Mechanism
作者: 高偉倫
Kao, Wei-Lun
關鍵字: 磁浮系統;magnetic levitation mechanism;順滑模態;sliding mode control
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-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 http://www.cs.nthu.edu.tw/~jang.
摘要: 
本論文主要為表現磁浮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,其中包括雷射感測系統,它的功能為偵測鐵球之位置;控制器分為外迴路與內迴路控制,外迴路以PI控制器控制鐵球位置;內迴路控制器為控制迴路電流,電流回授經過一低通濾波器與命令電流做比較,再以順滑模態控制電流。電流驅動器提供電流,電磁鐵線圈產生磁力,使鐵球得以吸放,再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控制,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. 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.
URI: http://hdl.handle.net/11455/9251
其他識別: U0005-1908201317025800
Appears in Collections:電機工程學系所

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