臺灣博碩士論文加值系統

一般文獻中所採用的磁浮系統模型，常常忽略一些如漏磁、有限鐵心導磁率等物理現象，以簡化模型及控制器的設計，但這可能使系統的性能受到限制。本論文將以多輸入多輸出的磁浮軸承系統為對象，將非線性物理結構引入模型中，並經由適當的控制器設計，讓磁浮系統能應用於高性能的機器上。
首先將以一維之磁浮軸承為例，利用鍵結圖(Bond Graph)並適當地考慮漏磁、邊緣磁場及有限鐵心導磁率等物理現象後，建立輸入電流、氣隙與電磁力關係式，並以Ansoft有限元素法分析其適用性。之後，將此關係式應用於五軸磁浮主軸上，建立多輸入多輸出(MIMO)的系統模型。藉著較適當的模型，針對軸向與徑向磁浮軸承系統的非線性及不確定項，設計出強健性之滑動控制器。此外，為解決在軸向軸承中，實際控制器所出現之控制輸入抖顫情形，本論文並提出一結合非線性控制與線性控制的混合型控制器(hybrid controller)。最後，透過數位訊號處理晶片(DSP)來實現控制器，分別對軸向以及徑向軸承施以控制。實驗結果顯示滑動控制器的確對於系統之未確定項具有強健性。

第一章 緒論1
1.1動機1
1.2文獻回顧2
1.3本文架構4
第二章 磁浮系統模型之建立5
2.1理論模型的建立5
2.2數值模型之建立9
2.3磁浮軸承之動態模型12
2.3.1徑向軸承之動態模型13
2.3.2軸向軸承之動態模型15
第三章 控制器之設計16
3.1線性控制器16
3.2回授線性化19
3.3滑動控制器之設計21
3.4控制器之修正26
3.4.1 混合型控制器(hybrid controller)27
第四章 模擬結果30
4.1軸向軸承之滑動控制器數值模擬30
4.2徑向軸承之滑動控制器數值模擬33
4.4混合控制器之模擬結果43
第五章 控制器實現與實驗結果46
5.1軸向軸承之時間響應47
5.2徑向軸承之時間響應53
第六章 結論58
6.1本文貢獻58
6.2未來研究方向59

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