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研究生:廖經鑫
研究生(外文):LIAO, JING-XIN
論文名稱:物聯網應用於磁浮軸承之滑模控制
論文名稱(外文):The Application of IOT on Sliding Mode Control in Magnetic Bearing System
指導教授:毛偉龍毛偉龍引用關係江煥鏗
指導教授(外文):MAO, WEI-LUNGCHIANG, HUANN-KENG
口試委員:毛偉龍江煥鏗陳清華沈金鐘
口試委員(外文):MAO, WEI-LUNGCHIANG, HUANN-KENGCHEN, TSING-HUASHEN, JIN-ZHONG
口試日期:2018-07-19
學位類別:碩士
校院名稱:國立雲林科技大學
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:2018
畢業學年度:106
語文別:中文
論文頁數:56
中文關鍵詞:直立式磁浮軸承系統滑動模式控制擴張觀測器MSP432MTK7688
外文關鍵詞:Vertical magnetic bearing systemSliding mode controlExtended state observerMSP432MTK7688
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針對直立式磁浮軸承在高度控制中易受系統參數變化、外界負載干擾等不確定因素的影響,本文提出含擴張觀測器之滑模控制器,以實現精確的高度控制。滑模控制具有抗干擾的優點,所以在系統出現參數變化與外部干擾時,能保證系統的控制性,滑模控制利用較大的切換增益使系統可以抗干擾,但同時帶來切跳現象。本文同時使用擴張觀測器搭配滑模控制,擴張觀測器使系統可以在線估測總集不確定量,反饋線性化後能降低總集不確定量,滑模控制的切換增益可以設計較小的參數。實驗結果顯示該方案提升了系統的精度。

直立式磁浮軸承主要元件由電磁鐵、電磁感應繞組、紅外線高度感測器、電磁鐵驅動電路、Ti MSP432微控制器單元所組成。實現了單晶片控制磁浮軸承,為了儲存磁浮軸承狀態資料在物聯網上,本文使用聯發科MTK7688晶片開發物聯網功能,使狀態資料可以藉由WiFi上傳到電腦。

The height control of the vertical magnetic bearing system is susceptible to the variations caused by parametric uncertainties and external disturbances. This thesis presents an extended state observer and sliding mode control for precise height control. The sliding mode control has the advantages of robustness to parameters variation of the system and good anti-interference ability. Sliding mode control uses discontinuous control action to drive the state trajectory toward a sliding surface. The control chattering magnitude depends on the switching gain of sliding mode to against the uncertainties. Extended state observer (ESO) is used to estimate unmeasurable states and external disturbances. Experimental results show that the proposed scheme reduces chattering and improves height control responses.

Vertical magnetic bearing system structure consists of electromagnet, electromagnetic induction winding, infrared sensor, electromagnetic drive circuit and Ti MSP432 microcontroller unit. The Micro Control Unit (MCU) MSP432 is used in controllers realization. This thesis used MediaTek MTK7688 to develop the Internet of Things in order to store magnetic bearing status data on the Internet of Things. The data can be uploaded to the computer by WiFi.

摘要
ABSTRACT
目錄
表目錄
圖目錄
符號說明
第一章 緒論
1.1 研究磁浮軸承之動機
1.2 文獻回顧
1.3 物聯網
1.4 論文架構
第二章 系統架構
2.1 磁浮軸承系統結構
2.2 磁浮軸承之應用場合
2.3 磁浮軸承數學模式
2.4 感測元件與擬合曲線的量測
第三章 理論回顧
3.1 滑動模式控制
3.1.1 滑動模態
3.1.2 滑動條件與迫近條件
3.1.3 滑動模式控制器設計
3.2 擴張觀測器
3.2.1 擴張觀測器之設計
3.2.2 擴張觀測器之參數設計

第四章 含擴張觀測器之滑動模式控制
4.1 滑動模式控制搭配擴張觀測器簡介
4.2含擴張觀測器之滑動模式控制設計
第五章 週邊硬體電路
5.1 磁浮軸承硬體簡介
5.2 MSP432簡介
5.3 MTK7688週邊電路
第六章 實驗結果
第七章 結論與未來展望
7.1 結論
7.2 未來展望
參考文獻

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