臺灣博碩士論文加值系統

本文研製一套自動送定位磁浮控制系統，它是由自動送定位系統及磁浮控制系統所組成。首先利用89C51微控制器，控制步進馬達，配合傳動機構，自動地將鐵球推送到磁浮系統的平衡點位置，再由磁浮控制系統將鐵球穩定地磁浮於空中。
磁浮控制系統由磁浮受控體、位置感測器、電流驅動器及控制器四部份所組成。在位置感測器部份，分別利用光敏電阻或紅外線光電二極體所構成的感測電路來偵測鐵球的位置；電流驅動器部份，分別利用V-I轉換器或內迴路控制之PWM電流驅動器，提供電磁鐵線圈的電流，以產生平衡鐵球重力的磁力。磁浮裝置是一非線性且不穩定的受控體，經由線性化後，本文利用根軌跡方法設計控制器，並以三種方式實現，分別是類比電子電路、DSP數位信號處理器和AD/DA伺服控制卡，搭配MATLAB/Simulink和即時控制軟體。
為了驗證磁浮系統的線性化模式，本文利用頻域之系統參數識別方法及動態信號分析儀量測波德圖，以驗證線性化轉移函數之正確性。
在實作成果中，以印刷電路板實現多弁鄋犒q路整合控制盒，而系統性能可磁浮直徑5 cm，重量0.1~1.3 kg的鐵球，磁浮距離0.8~1.5 cm。在直流工作點加入弦波或方波當作干擾，鐵球皆能穩定地磁浮於空中，展現出系統的強健性能。

A magnetic levitation system with auto-placement is designed and implemented in this thesis. The metallic ball can be automatically placed at the equilibrium point by means of a stepper motor controlled by 89C81 microcontroller, and then it is suspended in the air with a dynamic balance by the magnetic levitation system.
The magnetic levitation system consists of plant, the position sensor, the current driver and the controller. The position of the ball is sensed optically by a photo-resistor or a pair of infrared photodiodes. The current driver is implemented by a V-I converter or a PWM converter with an inner control loop. A magnetic levitation system is an intrinsically unstable and nonlinear plant. The root-locus technique is used to design the controller after the linearization step. The controller is realized by the analog circuit, the digital signal processor and an AD/DA servo control card cooperating with MATLAB/Simulink and real-time control software, respectively.
To verify the transfer function of the linearized model, a frequency-domain identification technique and the Bode plot measurement by the dynamic signal analyzer are employed.
A versatile control box is implemented to integrate the system circuit realized by a printed circuit board (PCB). The developed system can levitate 5-cm-diameter, 0.1~1.3 kg metallic balls, and the suspension distance 0.8~1.5 cm. For the robust performance test, the sine or square wave is added on the operating point to be viewed as the external disturbance. The metallic ball is still suspended in the air robustly.

中文摘要 i
英文摘要 ii
致謝 iii
目錄 iv
表目錄 vii
圖目錄 viii
第一章 緒論 1
1.1 簡介 1
1.2 研究動機與目的 1
1.3 相關論文回顧 4
1.4 論文大綱 5
第二章 自動送定位系統 7
2.1 壓力感測器與感測電路 8
2.2 動作原理 9
2.3 89C51微控制器與週邊電路 11
2.4 步進馬達之應用 12
第三章 磁浮控制系統及模式分析 14
3.1 磁浮控制系統架構 14
3.2 磁浮受控體 16
3.3 電流驅動器 22
3.3.1 V-I轉換器 22
3.3.2 PWM電流驅動器 24
3.4 鐵球位置感測電路 33
3.4.1 光敏電阻感測電路 33
3.4.2 紅外線光電二極體感測電路 36
3.5 模式分析結果 40
第四章 控制器設計與實現 41
4.1 使用V-I轉換器的控制器設計 41
4.1.1 PD控制器設計 42
4.1.2 相位超前控制器設計 43
4.2 使用PWM電流驅動器的控制器設計 45
4.2.1 PD控制器設計 45
4.2.2 相位超前控制器設計 46
4.3 控制器實現 47
4.3.1 類比控制器 47
4.3.2 數位控制器 49
4.3.3 即時控制系統 50
第五章 系統參數識別與動態信號分析儀量測 52
5.1 系統參數識別 52
5.2 利用動態信號分析儀量測波德圖 58
第六章 實作成果 61
6.1 實作電路 63
6.1.1 自動送定位系統之實作電路 63
6.1.2 磁浮控制系統之實作電路 63
6.1.3 電源之實作電路 67
6.2 電路整合控制盒 68
6.3 系統性能 69
6.3.1 磁浮1~6顆鐵球 70
6.3.2 加入弦波干擾 74
6.3.3 加入步階輸入、方波干擾 75
6.4 數位控制之磁浮控制系統 76
第七章 結論與未來研究方向 77
7.1 結論 77
7.2 未來研究方向 78
參考文獻 79
附錄 83
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