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研究生:陳聖化
研究生(外文):Sung-Hua Chen
論文名稱:三極磁浮軸承系統之實驗驗證與無感測器控制
論文名稱(外文):Experimental Validation and Sensorless Control of a 3-pole Active Magnetic Bearing System
指導教授:陳世樂陳世樂引用關係
指導教授(外文):Shyh-Leh Chen
學位類別:碩士
校院名稱:國立中正大學
系所名稱:機械系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:英文
論文頁數:80
中文關鍵詞:三極磁浮軸承磁浮軸承無感測器控制觀測器
外文關鍵詞:3-pole AMBmagnetic bearingsensorlessobserver
相關次數:
  • 被引用被引用:5
  • 點閱點閱:213
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
本文中以實驗方法對三極主動式磁浮軸承進行研究。對此三極磁浮軸承平台,實現已設計之三種控制器。其一為線性回授控制器,另二種控制器皆建立在回授線性化的基礎上,分別為線性回授控制器以及積分滑動模式控制器。藉著對本系統的非線性磁力模型仔細的校準,使得我們可以精確的表達出實際的系統模型。實驗結果顯示,線性控制器與回授線性化基礎的線性控制器皆導致極限循環穩定。只有回授線性化基礎的積分滑動模式可使得轉子穩定於定子之幾何中心。
本研究也在無因次化之電壓控制模型下設計一觀測器。藉由量測線圈電流,可以得到系統狀態,而以此取代價格昂貴的位置感測器。本論文中以模擬結果驗証其可行性。
3-pole Active magnetic bearing (AMB) is discussed in this thesis for two types of mathematical models: current-controlled and voltage-controlled models. The controllers of experimental verification are based on the current-controlled model. For the strong nonlinearity of the 3-pole AMB, feedback linearization of the nonlinear system is proposed based on the special structure of the system model. Then the sliding mode control will be constructed on the feedback linearized system to against the model uncertainties. To modify the theoretic model to fit in with practical plant, the parameters of magnetic force model must be amended.
The observer design is based on the voltage-controlled model with dimensionless. Instead of expansive position sensors, the information of system states can be obtained from measuring coil currents. The results of simulations verify its practicability.
CHAPTER 1 Introduction
CHAPTER 2 Literature Review
CHAPTER 3 System Description and Mathematical Model
3.1 Current-Controlled Model
3.1.1 Magnetic Circuit Analysis
3.1.2 Rotor and Actuator Dynamics
3.1.3 State Equations
3.2 Voltage-Controlled Model
3.2.1 State Equations
3.2.2 Dimensionless
3.3 Magnetic Force Model Modification
3.3.1 Relation of flux to current and air gap
3.3.2 Relation of flux to magnetic force
CHAPTER 4 Controller Design
4.1 Feedback Linearization Approach to Controller Design
4.2 Integral Sliding Mode Control
4.3 Observer Design
CHAPTER 5 Simulation Results
CHAPTER 6 Experiment Verification
6.1 System parameter identification
6.1.1 Sensor calibration
6.1.2 Practical air gap
6.2 Implementation of controllers for 3-pole AMB
6.2.1 Linear controller
6.2.2 Feedback linearization and a linear controller
6.2.3 Feedback linearization and an integral sliding mode controller
CHAPTER 7 Conclusions and Future Work
7.1 Conclusions
7.2 Future Work
References
[1] Schweitzer,G., Bleuler,H., “Active Magnetic Bearings”, vdf Hochschulverlag AG an der ETH Zurich, 1994.
[2] Hsu,C.T., Chen,S.L., “Optimal Design of a 3-Pole Active Magnetic Bearing System”, submitted for publication, 200.
[3] Hsu,C.T., Chen,S.L., “Nonlinear Control of a 3-Pole Active Magnetic Bearing System”, submitted for publication, 200.
[4] Hsu,C.T., Chen,S.L., “Exact Linearization of a Voltage-Controlled 3-Pole Active Magnetic Bearing System”, submitted for publication, 200.
[5] Ronald,D.Williams, F.Joseph Keith, Paul E.Allaire, “Digital Control of active Magnetic Bearings”, IEEE Transactions on Industrial Electronics, Vol. 37, No. 1, February 1990.
[6] Sivadasan,K.K., “Analysis of Self-sensing active Magnetic Bearings Working on Inductance Measurement Principle”, IEEE Transactions on Magnetics, Vol. 32, No. 2, pp. 329-334, March 1996.
[7] Albritton,N.G., Hung,J.Y., “Observers for Sensorless Control of Industrial Magnetic Bearings”, IEEE IECON 21st International Conference on Industrial Electronics, Control, and Instrumentation, Vol. 2, pp.973-978, 1995.
[8] Charara,A., Caron,B., “Magnetic Bearing: Comparison between Linear and Nonlinear Functioning”, Proc. 3rd Int. Symp. Magnetic Bearings, pp 451-460, Virginia, July 1992.
[9] Maslen,E.H., Meeker,D.C., “Fault Tolerance of Magnetic Bearings by Generalized Bias Current Linearization”, IEEE Transactions on Magnetics, Vol. 31, No. 3, pp. 2304-2314, May 1995.
[10] 黃承翰, “三極磁浮轉子系統之實驗驗證”, 國立中正大學機械工程研究所碩士論文, 民90.
[11] Hanselman,D.C., “Brushless Permanent-Magnet Motor Design”, McGraw-Hill, 1994.
[12] Chan-Tang Hsu, “Optimal Design, Modeling and Control of a 3-pole Active Magnetic Bearing System”, 國立中正大學機械工程研究所博士論文, 民91.
[13] Jeffrey D. Lindlau and Carl R. Knospe, “Feedback Linearization of an Active Magnetic Bearing With Voltage Control”, IEEE Transactions on Control Systems Technology, vol. 10, No.1, January 2002.
[14] 鐘英哲, “多輸入多輸出磁浮系統之非線性強健控制”, 國立清華大學動力機械工程研究所碩士論文, 民88.
[15] D. Cho, Y. Kato, & D. Spilman, “Sliding mode and classic controllers in magnetic levitation systems.” IEEE Control Systems Magazine vol. 13 No. 1, 1993 (pp. 42-48).
[16] Alberto Isidori, Nonlinear control systems, 3rd ed., Springer-Verlag, 1995.
[17] Khalil, H. K. (1996). Nonlinear Systems. 2nd edit. Prentice-Hall.
[18] 吳金駿, “含偏心量之三極磁浮轉子系統的動態分析與實驗驗證”, 國立中正大學機械工程研究所碩士論文, 民90.
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