臺灣博碩士論文加值系統

本論文研究主題為磁浮平臺控制系統控制器設計。磁浮平台系統為一本質上不穩定的非線性控制系統。我們分析其動態，導得一個十階的高階動態系統，控制器設計不易。因此，我們將其四個電磁鐵視為四個獨立的系統控制，忽略其耦合作用。我們以兩種不同的技巧設計其控制器，第一種是將系統回授線性化後以極點設置技巧設計其控制器；第二種是以控制Lyapunov函數技巧為基礎，設計一非線性控制器。最後我們將所得控制器分別用以控制原本的磁浮平台系統，發現在力的耦合作用下均無法讓系統穩定。

目錄
摘要......................................................I
目錄.....................................................Ⅲ
第一章 緒論...............................................1
1.1 研究背景..............................................1
1.2 研究動機與問題陳述.....................................2
1.3 論文架構..............................................2
第二章 背景知識與數學基礎...................................4
2.1 Lyapunov穩定理論......................................4
2.2 控制Lyapunov函數(CLF) ................................6
2.3 極點設置(pole assignment) ............................8
第三章 磁浮平臺系統介紹.....................................9
3.1 磁浮平臺系統模型簡介...................................9
3.2 磁浮平臺系統動態方程式.................................10
第四章 磁浮平臺控制器設計..................................14
4.1單一自由度磁浮控制系統..................................14
4.2控制器設計............................................20
4.3磁浮平臺系統模擬.......................................30
第五章 結論與未來展望......................................41
參考文獻.................................................42

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