臺灣博碩士論文加值系統

在磁浮系統中，由於電磁場中氣隙、電流與電磁力之間的非線性關係，導致系統具有高度非線性且不穩定的特性。因此本論文先建立電磁鐵等效電路模型，再根據牛頓第二運動定律建立系統動態模型，以設計出多樣性主動控制策略來維持系統的穩定性。首先將針對磁浮驅動與控制系統利用遞迴步階(Backstepping)方式進行控制器設計，再進一步結合滑動模式控制(Sliding Mode Control, SMC)以使控制系統擁有更佳之強健性。此外，為簡化控制系統架構並進一步增加系統響應，在第四章中將再設計一具脈波寬度調變(Pulse Width Modulation, PWM)之電流控制器，除系統穩定性可確保之外，更可優化暫態響應以及加速誤差收斂時間。最後更利用數值模擬與數位訊號處理器實驗平台，驗證所設計之電磁懸浮式定位系統之可行性。

The nonlinear relationship among the air gap, current and magnetic forces will result in highly nonlinear and unstable characteristics in maglev system. In this thesis, the electromagnetic equivalent circuit model is established, and then the dynamic model will be derived by using Newton''s second law of motion. Based on the dynamic model, control strategies are designed to keep the maglev system stable. In the control systems, a backstepping control (BSC) is firstly proposed due to the systematic design step. Furthermore, the backstepping design steps are used to design a sliding mode control (SMC), it will make the maglev control system has the better control performance. To simplify the control scheme and increase the system response, the installation of a hardware-based pulse-width-modulation type current controller is designed in the fourth chapter. Besides, the stability of the system can be ensured and the better transient response and accelerated error convergence time can be seen. Finally, the effectiveness and robustness of the proposed control strategies in this master thesis are verified by numerical simulations and digital-signal-processor(DSP)-based experimental results.

中文摘要.....i
Abstract.....ii
誌謝.....iii
目錄.....iv
表目錄.....viii
圖目錄.....ix
第一章、緒論.....1
1.1前言.....1
1.2文獻回顧.....2
1.3研究目的與動機.....8
1.4論文架構.....10
第二章、磁浮平台數學模型與系統架構.....11
2.1簡介.....11
2.2磁浮平台原理與磁力分析.....11
2.2.1磁浮平台原理.....11
2.2.2磁力分析.....13
2.3磁浮平台之動態模型分析.....17
2.4系統架構.....18
2.4.1核心處理器.....19
2.4.2氣隙感測器.....20
2.4.3霍爾電流感測器.....22
2.5電路架構.....24
2.5.1介面電路.....24
2.5.2隔離電路.....25
2.5.3驅動電路.....25
2.5.4箝制電路.....27
第三章、電壓控制器設計.....30
3.1簡介.....30
3.1.1數位控制系統流程.....30
3.1.2數位訊號濾波器.....32
3.2 電壓控制為基礎之PID控制器.....33
3.2.1 電壓控制為基礎之PID控制簡介.....33
3.2.2 電壓控制為基礎之PID控制流程.....34
3.3電壓控制為基礎之遞迴步階控制器.....36
3.3.1電壓控制為基礎之遞迴步階控制器簡介.....36
3.3.2電壓控制為基礎之遞迴步階控制器設計.....36
3.4電壓控制為基礎之滑動遞迴步階控制器.....41
3.4.1電壓控制為基礎之滑動模式控制器簡介.....41
3.4.2電壓控制為基礎之滑動遞迴步階控制器設計.....42
3.5電壓控制為基礎之磁浮系統模擬結果.....45
3.5.1 模擬規畫.....46
3.5.2電壓控制為基礎之PID控制器模擬結果.....46
3.5.3電壓控制為基礎之遞迴步階控制器模擬結果.....50
3.5.4電壓控制為基礎之滑動遞迴步階控制器模擬結果.....53
3.6電壓控制為基礎之磁浮系統實驗結果.....57
3.6.1 電壓控制為基礎之PID控制器實驗結果.....57
3.6.2電壓控制為基礎之遞迴步階控制器實驗結果.....60
3.6.3電壓控制為基礎之滑動遞迴步階控制器實驗結果.....64
3.7本章總結.....68
第四章、電流控制器設計.....69
4.1簡介.....69
4.2電磁鐵電路分析與電流控制設計.....71
4.2.1電磁鐵驅動電路分析.....71
4.2.2電流控制器設計.....71
4.3電流控制為基礎之PID控制器.....77
4.4 電流控制為基礎之遞迴步階控制器.....77
4.4.1電流控制為基礎之遞迴步階控制器簡介.....77
4.4.2電流控制為基礎之遞迴步階控制器設計.....78
4.5 電流控制為基礎之滑動遞迴步階控制器.....80
4.6電流控制為基礎之磁浮系統實驗結果.....82
4.6.1 電流控制為基礎之PID控制器實驗結果.....83
4.6.2電流控制為基礎之遞迴步階控制器實驗結果.....86
4.6.3電流控制為基礎之滑動遞迴步階控制器實驗結果.....89
4.7本章總結.....94
第五章、結論與未來展望.....95
5.1結論.....95
5.2未來展望.....98
參考文獻.....100
附錄一.....106
附錄二.....107
Extended Abstract.....108
個人簡歷.....113

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