- 學位論文
以鍵結圖法分析非線性磁浮球系統之研究
Apply Bond-graph to Analysis and Research Nonlinear Magmanic-ball System
摘要
鍵結圖法是一個用來分析系統動態行為的模擬分析工具，可明確地表示出系統中能量的傳送及轉換現象，也可清楚地描述存在於各領域間能量的轉換行為，其所使用元件都符合實際系統的物理意義，且保留原系統的動態特性，並且可以程序轉換成simulink軟體模組供系統模擬。 本論文主要是以鍵結圖為工具對非線性磁浮球系統建立模型，再設計PID及類神經控制器，使磁浮球系統能根據系統所輸入的期望值，讓磁浮球浮於所指定的高度。利用鍵結圖對磁浮球系統建立模型，可以發現傳統的磁浮球系統忽略了反電勢這一部份，雖然仍可以達到控制的效果，但其模擬完整性卻有令人質疑之處，而能量守衡雖是大家都知道的定律，但卻極容易忽略，而鍵結圖因為嚴格遵守能量守衡的特性，故沒有發生這方面問題的疑慮。 本論文以鍵結圖建立一考慮到反電勢效應的磁浮球系統，再以PID及類神經控制器做控制，並分析其與傳統磁浮球系統忽略反電勢效應之差異性。也可知道用鍵結圖建立更高階的非線性系統模型，能避免線性化的複雜過程及忽略動態特性的可能，再用類神經及PID控制器做控制，求得更準確的結果。
並列摘要
Bond graph is simulation tool for analyze dynamic system, it can explicitly express the system the energy transmission and the transformation phenomenon, also may describe clearly exists in during various domains the energy transformation actions, its uses the part all to conform to the actual system physics significance, also retains the original system the dynamic characteristic, and may the procedure transform the simulink software mold train to supply the system simulation. The present paper mainly is use bond graph as a tool to construct nonlinear dynamic system model, redesigns PID and Neural Network controller, and let magnetic-ball system to act according to the expected value which the system inputs, lets magnetic-ball float in the altitude which assigns ,use bond graph to construct magnetic-ball system model, may discover traditional magnetic-ball system has neglected Back EMF part ,although still might achieve the control the effect , but its simulation integrity had actually makes place of the one question, but the energy conservation law which although was everybody all knew, but extremely was actually easy to neglect ,because Bond graph strictly observed the characteristic which the energy conservation law, therefore has not had this aspect question anxiety. This paper will use bond graph to construct a magnetic-ball system that consider Back EMF effect ,again makes the control by PID and Neural Network controller, and analyzes its and difference of the traditional magnetic-ball system neglect counter Back EMF effect, Also may know use bond graph could construct higher order nonlinear system model, can avoid linearized the complex process and the neglect dynamic characteristic possibility, again uses Neural Network and the PID controller makes the control ,obtains a more accurate result.