臺灣博碩士論文加值系統

本文以近二十年來興起之 理論設計控制器，對單自由度混成式電磁懸浮系統進行控制。
我們先對系統的平衡點取線性化求出理論數學模型，再經由實驗的方法作系統鑑別。根據所估測來之系統模型設計H-inf控制器。
在H-inf控制器的設計方面，我們會應用模式匹配問題，再以互質分解提供數學計算的架構，使得系統能接近設計的規格，達成設計目標。

This thesis presents a single-degree-of-freedom electromagnetic suspension system control by using H-inf controller.
To find the mathematical model, we first linearize the system dynamic equation around its equilibrium point and then estimate the parameters of the system from closed-loop time response with a PD controller.
Based on the estimated model thus obtained, we develop an H-inf controller by using coprime factorization method in solving the H-inf model-matching problem. As illustrated, the resulting closed-loop system has good robustness and performance.

第一章 緒論 1
1.1 前言 1
1.2 研究背景、動機與目的 1
1.3 磁浮科技之發展史 4
1.4 研究方法及步驟 5
1.4.1 研究方法 5
1.4.2 研究步驟 5
1.5 論文章節簡介 7
第二章 相關控制理論之回顧 8
2.1 控制理論 8
2.1.1 範數 8
2.1.2 內部穩定(Internal Stability) 9
2.1.3 標準 控制問題 10
2.2 互質分解 11
2.3 互質分解原理與應用 12
2.3.1 穩定 13
2.3.2 模式匹配問題(Model-Matching Problem) 13
2.3.3 應用 13
第三章 磁浮系統之硬體架構 15
3.1 簡介 15
3.2 磁浮模組 16
3.3 直流伺服放大器 19
3.3.1 電流放大器 19
3.3.2 電壓放大器 21
3.4 感測器 22
3.5 界面卡 24
3.5.1 A/D轉換卡(PCL-818L) 24
3.5.2 D/A轉換卡(PCL-726) 31
第四章 磁浮系統之模型建立與系統鑑別 38
4.1 磁浮系統簡介 38
4.2 磁浮的分類 38
4.3 磁力特性 41
4.4 磁浮系統的操作原理 44
4.5 磁浮系統數學模式的建立 46
4.6 系統鑑別 51
4.6.1 理論數學模型的求法 52
4.6.2 實驗架構 52
4.6.3 實驗結果比較與心得 55
第五章 控制器的設計、模擬與實驗結果 56
5.1 控制器簡介 56
5.2 PD、PID控制器之設計 58
5.2.1 設計PD控制器 59
5.2.2 設計PID控制器 61
5.3 PID控制器之應用與實驗 64
5.3.1 緩慢上升與緩慢下降 64
5.3.2 加入負載 66
5.4 控制器設計 68
5.5 控制器抑制雜訊之實驗 73
5.5.1 實驗方法 73
5.5.2 實驗結果與討論 73
第六章 結論與未來方向 76
參考文獻 77

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