臺灣博碩士論文加值系統

隨著科技的進步，除了講究精密度之外也考慮硬體成本，系統的精密定位控制及廉價的成本在工業界頗受重視。風速系統是針對建築物空調風扇耗能改善的自製實驗系統，主要目的為減少建物內空調中風扇系統的能量損耗，進而減低碳排放量，而磁浮球系統是利用電流通過線圈產生電磁力使受控體懸浮於空中，因此可避免元件之接觸摩擦受損。
風扇系統與磁浮球系統擁有非線性系統之特性，容易遭非線性系統中的不確定量干擾使系統輸出偏離預期命令或失控，因此本論文在風扇系統方面以單晶片PIC30F4011為運算核心，訊號輸出部分軟體使用SPI手法搭配硬體MCP4921進行A/D轉換再透過驅動電路進行風速控制。而磁浮球系統，則是藉由電腦軟體Matlab搭配硬體控制卡PCI-1711U進行A/D轉換，再透過驅動電路進行高度控制，最後再將本論文所設計之非線性控制器導入系統，藉此避免系統輸出偏離預期命令或失控的情況發生。
本論文非線性控制器主要以二階滑動模式控制器為主，其動機為二階滑動模式控制器對於抵抗參數變動量以及外部干擾量擁有很好的強健性，且能夠有效的改善傳統滑動模式控制器嚴重的切跳現象，風扇系統主要應用切換型二階滑動模式控制器控制器，Twisting Algorithm、APLV，以及設計一種近似於Twisting Algorithm並且改良之二階滑動模式控制器A-Simple-Reaching-Law，而磁浮球系統主要應用運算型二階滑動模式控制器，Lyapunov Based 及本論文自行設計之新型二階滑動模式控制器Sliding Surface，針對二階滑動模式略慢的響應進行改善。將二階滑動模式大致分類成切換型及運算型兩種類型，並針對系統特性的不同，進行二階滑動模式的探討及設計改善，透過所設計之控制器完成精確且穩定的響應控制，同時具有抵抗總集不確定量的強健性。
關鍵字:風扇系統、風速控制、磁浮球系統、高度控制、滑動模式、二階滑動模式。

Precision control and hardware cost are considered in technological advances. The system precision control and lower cost are important in industry. The fan wind speed control system (FS) is a self-made experimental system that is designed to improve the efficiency of the air-condition system in buildings by control methods. Magnetic ball suspension system(MBSS) used coil current to generate electromagnetic force such that the ball can suspend in the air.
FS and MBSS are nonlinear systems which have many uncertainties in the experimental system. The parameter variations and external disturbances of the system may go out of control because the operating point is out of the pre-designed operating region. Therefore, we use several nonlinear control algorithms to reduce interference of uncertainties. The microchip controller PIC30F4011 is employed for the core operation unit of FS. The output signal is sent through the SPI technique to hardware MCP4921 for A/D converting. The Matlab/simulink is implemented for the MBSS. The PCI-1711U is acted the signal A/D converter between the controller and the MBSS. Therefore, the drive circuits with controllers achieve the high precision wind speed control and height position control.
The second order sliding mode control (SOSMC) has anti-uncertainty ability that overcomes the serious chattering phenomenon of conventional sliding mode control method. In this thesis, we divided the SOSMC as two different types including switching type and mathematical type. The FS uses switching type SOSMC of twisting algorithm, APLV and algorithm of a simple reaching law (ASRL) which are self twisting algorithm. The MBSS uses mathematical type SOSMC which included Lyapunov Based and novel design Sliding Surface SOSMC in this thesis. Finally, the proposed SOSMC algorithms show good responses and convergence ability through our experiments.
Keyword: fan system, wind speed control, magnetic ball suspend system, height control, sliding mod control, second order sliding mod control

目錄
摘要 i
Abstract ii
誌謝 iii
目錄 iv
表目錄 vii
圖目錄 viii
符號表 xiii
第一章: 緒論 1
1.1 風速系統之背景簡介 1
1.1.1 風速系統之研究動機及目的 2
1.1.2 風速系統之文獻回顧 3
1.2 磁浮球系統之背景簡介 4
1.2.1 磁浮球系統研究動機及目的 5
1.2.2 磁浮球系統之文獻回顧 6
1.3 論文架構 7
第二章: 系統架構與數學模型 8
2.1 風扇系統之系統架構及模型推導與建模 8
2.2 磁浮球系統之系統架構及模型推導與建模 15
第三章: 可變結構控制 19
3.1 滑動模式控制理論 19
3.1.1 順滑條件 22
3.1.2 迫近條件 22
3.2 滑動模式之設計技巧 23
3.3 風速系統之滑動模式控制器設計 27
3.4 磁浮球系統之滑動模式控制器設計 28
第四章: 二階滑動模式控制 30
4.1 二階滑動模式控制理論 30
4.2 系統相對階數及滑動函數的選擇 31
4.3 相平面控制及軌跡 31
4.4 二階滑動模式控制器種類 35
4.5 風扇系統之二階滑動模式控制器設計 39
4.5.1 Twisting Algorithm二階滑動模式控制器 39
4.5.2 A-Simple-Reaching-Law(ASRL)二階滑動模式控制器 46
4.5.3 Algorithm with a Prescribed Law of Variation S二階滑動模式控制器 48
4.6 磁浮球系統之二階滑動模式控制器設計 50
4.6.1 Lyapunov-Based二階滑動模式控制器 50
4.6.2 Sliding-Surface二階滑動模式控制器 53
第五章: 實驗系統 56
5.1 風速系統之整體架構 56
5.1.1 PIC30F4011微控制器介紹及可操作範圍 57
5.1.2 PIC30F4011內部功能使用及資料傳輸介面 60
5.1.3 風扇系統之周邊硬體架構 67
5.1.4 軟體應用 74
5.2 磁浮球系統之整體架構 77
5.2.1 PCI-17711U控制卡介紹及可操作範圍 80
5.2.2 磁浮球系統之周邊硬體架構 81
5.2.3 軟體應用 85
第六章: 風扇系統之實驗結果 87
6.1 實驗系統參數 87
6.2 實驗結果探討 90
6.2.1 滑動模式控制器 90
6.2.2 Twisting Algorithm二階滑動模式控制器 94
6.2.3 A-Simple-Reaching-Law(ASRL)二階滑動模式控制器 101
6.2.4 APLV二階滑動模式控制器 108
6.2.5 實驗結果比較圖 115
第七章: 磁浮球系統之實驗結果 126
7.1 實驗系統參數 126
7.2 實驗結果探討 128
7.2.1 滑動模式控制器 128
7.2.2 Lyapunov-Based二階滑動模式控制器 132
7.2.3 Sliding-Surface二階滑動模式控制器 139
7.2.4 實驗結果比較圖 146
第八章: 結論與未來研究方向 156
8.1 結論 156
8.2 未來研究方向 157
參考文獻 158

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