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研究生:鄭嘉修
研究生(外文):Jia-Siou Jheng
論文名稱:基於粒子群聚演算法之磁浮軸承系統最佳化PID控制及動態分析
論文名稱(外文):基於粒子群聚演算法之磁浮軸承系統最佳化PID控制及動態分析
指導教授:謝錦聰謝錦聰引用關係姚賀騰
指導教授(外文):Chin-Tsung HsiehHer-Terng Yau
學位類別:碩士
校院名稱:國立勤益科技大學
系所名稱:電機工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2016
畢業學年度:104
語文別:中文
論文頁數:51
中文關鍵詞:磁浮軸承PID控制器混沌粒子群聚演算法
外文關鍵詞:Magnetic BearingPID ControllerChaosParticle Swarm Optimization
相關次數:
  • 被引用被引用:2
  • 點閱點閱:187
  • 評分評分:
  • 下載下載:16
  • 收藏至我的研究室書目清單書目收藏:1
本論文主要研究磁浮軸承系統之最佳化PID控制,磁浮系統為一個非線性且極度不穩定之系統,如何對其系統進行建模與控制是相當重要的。本研究透過曲線擬合法建構其運動方程式模型,經由實驗驗證所建立之模型具有相當的準確性,並利用粒子群聚演算法(particle swarm optimization, PSO)進行該非線性系統之最佳化PID控制參數搜尋,進而以MATLAB軟體結合dSPACE硬體發展控制平台,利用真實實驗,驗證了使用PSO演算法所得到的參數可直接控制系統達到所要的位置,此方式比起人工調整PID控制參數的嘗試錯誤法還來得有效率。
This paper describes a study of optimized PID control for a magnetic bearing system. Such a system is nonlinear and extremely unstable and this poses the extremely important question of how to perform modeling and control. In this study curve fitting was used to construct a dynamic equation model. The model was built and verified in practical experiments and found to be of relatively high accuracy. Particle Swarm Optimization (PSO) was used to search for optimizing PID control parameters so that MATLAB software could be used in conjunction with the dSPACE hardware to develop a control platform. Practical experiments verified that the parameters obtained using the PSO algorithm, could be used to directly control the system to reach a desired position, and this method was more efficient than the trial-and-error manual adjustment of PID control parameters.
摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vi
表目錄 ix
第一章 序論 1
1.1前言 1
1.2文獻回顧 2
1.3論文綱要 4
第二章 磁懸浮系統之非線性動態分析 5
2.1磁懸浮系統理論分析 5
2.1.1運動方程式分析 6
2.2數值分析結果與討論 8
2.2.1週期與次週期行為分析 9
2.2.2分岔分析 17
第三章 單一自由度之磁浮軸承模型建構 21
3.1單一自由度之磁浮軸承簡介 21
3.2運動方程式分析 23
3.3實際量測轉子受磁浮軸承吸力 24
3.3.1曲面擬合 26
3.4各子模型建構 27
3.4.1子模型-轉子受上下軸承磁力 28
3.4.2子模型-上下軸承電磁鐵電流響應 29
3.4.3子模型-位置氣隙換算 32
3.5各子模型組合 34
第四章 單一自由度磁浮軸承控制模擬 36
4.1模型測試 36
4.2 數位PID控制器 38
4.3 粒子群聚演算法(particle swarm optimization, PSO) 39
4.4 PID控制模擬結果 42
第五章 單一自由度之磁浮軸承控制實驗 44
5.1 控制平台系統架構簡介 44
5.2位置傳感器與功率放大器輸入輸出換算說明 45
5.3控制之實作及結果 46
第六章 結論 48
6.1 總結 48
6.2 未來展望 49
參考文獻 50

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[3] Y. Zhou, B. Kou, X. Yang, and H. Zhang, "Analysis and design of a low stiffness flat type vertical-gap passive maglev vibration isolation unit," in 2015 IEEE Magnetics Conference (INTERMAG), 2015, pp. 1-1.
[4] M. Lashin, A. T. Elgammal, A. Ramadan, A. A. Abouelsoud, S. F. M. Assal, and A. Abo-Ismail, "Fuzzy-based gain scheduling of Exact FeedForward Linearization control and sliding mode control for magnetic ball levitation system: A comparative study," in Automation, Quality and Testing, Robotics, 2014 IEEE International Conference on, 2014, pp. 1-6.
[5] D. Moreno, "Design and Implementation of an Uncoupled and Parallelly Actuated Control for the Highly Nonlinear Suspension System of a Maglev Train," in 2015 6th International Conference on Intelligent Systems, Modelling and Simulation, 2015, pp. 199-204.
[6] M. Y. Chen, T. B. Lin, S. K. Hung, and L. C. Fu, "Design and Experiment of a Macro–Micro Planar Maglev Positioning System," IEEE Transactions on Industrial Electronics, vol. 59, pp. 4128-4139, 2012.
[7] R. J. Rajesh and C. M. Ananda, "PSO tuned PID controller for controlling camera position in UAV using 2-axis gimbal," in Power and Advanced Control Engineering (ICPACE), 2015 International Conference on, 2015, pp. 128-133.
[8] P. Woafo, H. B. Fotsin, J. C. Chedjou, “Dynamics of Two Nonlinearly Coupled Oscillators,” Physica Scripta,Vol. 57 , pp. 195-200, 1998.
[9] A. Wolf, J. B. Swift, H. L. Swinney and J. A. Vastano, Determining Lyapunov exponent from a time series, Physica D 16 (1985) 285-317.
[10] W. Barie and J. Chiasson, Linear and nonlinear state-space controllers for magnetic levitation, International Journal of Systems Science 27 (1996) 1153-1163.
[11] Y. K Tzeng, An electromagnetic levitation system with extremely low power consumption, M. S. Thesis NCHU,Taiwan, 1992.
[12] 陳朝光、陳介力、楊錫凱,自動控制概論,高立圖書有限公司,2015,ISBN:9789864129461
[13] 陳明賢、李迪章、汪惠健,數位控制系統,高立圖書有限公司,2004,ISBN:9789575849719

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