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研究生:林裕茂
研究生(外文):Yu-mao Lin
論文名稱:磁浮系統適應控制之理論與實作
論文名稱(外文):Adaptive Control of Magnetic Levitation Systems: Theory and Experiments
指導教授:黃安橋
指導教授(外文):An-Cchyau Huang
口試委員:黃安橋
口試日期:2011-05-13
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2011
畢業學年度:99
語文別:中文
論文頁數:78
中文關鍵詞:磁浮系統適應控制理論與實作
外文關鍵詞:Adaptive ControlMagnetic Levitation SystemsTheory and Experiments
相關次數:
  • 被引用被引用:1
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  • 下載下載:99
  • 收藏至我的研究室書目清單書目收藏:0
本論文針對一磁浮系統,提出適應控制器,以處理其內部未知參數變動與外部時變干擾。由於傳統直立式磁浮架構不易對磁浮動子引入干擾效應,本文特以水平方式建構系統,並實現出時變干擾效應。由於此系統組態未見於文獻,因此本文詳細推導其運動方程式。因為該系統具有非對稱動態行為,使得控制器設計極具挑戰性。另外,系統內的非匹配未知項的存在,更大幅限制了控制器設計的有效性。本文以適應多面控制法,配合函數近似技術,來設計適應控制器。藉由嚴格的數學證明,可確保系統之穩定度。本文以實際的磁浮系統進行實驗,並與PID控制器比較性能,以彰顯控制器之優越性。
In this thesis, an adaptive controller is designed to a magnetic levitation system to cope with internal time-varying uncertainties and external disturbances. Since the traditional magnetic levitation design is not easy to give external disturbances to the payload, a horizontal design is realized in this study. To facilitate the analysis and controller design, the equation of motion is derived in detail. Due to the asymmetric nature of the magnetic loop, there is a big challenge in the controller design process. In addition, since some of the uncertainties enter the system in a mismatched manner, few control paradigms are feasible here. A multiple-surface sliding control law is proposed with the help of the function approximation technique to stabilize the closed loop system under various uncertainties and disturbances. A rigorous mathematical proof is given to verify the feasibility of the design. Experimental studies are conducted with the comparisons with the conventional PID design to clarify the performance of the proposed controller.
目錄

中文摘要 Ⅰ
英文摘要 Ⅱ
誌謝 Ⅲ
目錄 Ⅳ
圖表索引 Ⅵ

第一章 緒論 1
第二章 磁浮系統數學模型建立 4
2.1 磁浮系統架構 4
2.1.1 電磁力之方向 4
2.1.2 空氣磁阻之問題 5
2.1.3 水平作動之設計 6
2.2 電磁力之推導 7
2.3 磁浮動態方程式之推導 10
第三章 控制器設計 13
3.1 適應多重滑動面控制器設計 13
3.2 設計強健項適應律及穩定度分析 16
3.3 暫態分析 20
第四章 實驗 21
4.1 實驗設備與架構 21
4.2 實驗規劃 24
4.2.1 軌跡規劃 24
4.2.2 實驗範例安排 24
4.3 同向Regulation實驗 28
4.3.1 無干擾範例 28
4.3.2 小干擾範例 31
4.3.3 大干擾範例 35
4.3.4 小結 38
4.4 異向Regulation實驗 39
4.4.1 無干擾範例 39
4.4.2 小干擾範例 42
4.4.3 大干擾範例 46
4.4.4 小結 49
4.5 Tracking實驗 50
4.5.1 無干擾範例 50
4.5.2 小干擾範例 54
4.5.3 大干擾範例 57
4.5.4 小結 61
第五章 結論 62
參考文獻 63
作者簡介 66
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[18]黃安橋, “FAT-Based Adaptive Multiple-Surface Control of SISO non-autonomous Systems with Mismatched Uncertainties,” 講義, 2005.
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