以數位訊號處理器為基礎之
電磁懸浮式精密定位控制系統設計

本論文發展一套電磁懸浮式精密定位控制系統，以電磁懸浮式平台做為定位機構，使用數位訊號處理器為控制核心，藉由其強大運算能力與多功能訊號傳輸介面，來實現控制法則運算，搭配直流轉換器來驅動電磁鐵作為平台動力來源，另外由裝設在平台上的氣隙感測器來獲得實際高度位置，由此高度位置做回授訊號使磁浮系統成為一套完整閉迴路控制系統。磁浮系統具有高度非線性特性，因此本論文將先分析磁浮平台的磁力組成與動態模型，再分別針對磁浮系統之特性發展多樣性控制策略，包涵了傳統控制比例-積分-微分、滑動模式控制以及適應性滑動模式控制器，此外還加入內迴路電流控制器來增加系統響應，藉由遞迴步階控制設計方式，將高階非線性控制系統，分解成一系列低階簡單系統以利控制器設計；本論文中所設計之控制策略，其系統穩定度皆可被確保，最後由實驗結果驗證本文所設計電磁懸浮式定位平台控制系統之可行性。

關鍵字

磁浮系統；滑動模式控制；內迴路電流控制器；數位訊號處理器

並列摘要

This thesis develops an electromagnetic-levitation-precision control system.The digital signal processor (DSP) is used to implement the proposed control system, according to the powerful internal computing capability and multi-signal transmission interface.The moving forces of platform are provided by two electromagnets driven by dc-dc converters. The platform position is measured by a gap sensor. According to the feedback signal a DSP-based closed loop control system will be completed. The maglev system possessed inherently nonlinear property. Therefore the magnetic composition and dynamic-model of maglev system are first analyzed to faciliate the control of strategy design. Various control strategies designed focus on the magle system in this study,including the traditional Proportion-Intergral-Differential (PID) controller, sliding-mode controller (SMC) and adaptive sliding-model controller (ASMC). Besides, current control loop is added in the digital control system for increasing system response. The currrent controller is designed by backstepping control design approach. It can simplify the higher-order nonlinear system controller design to a series of simply system to facilitate low-level controller design. The system stabilities of the control strategies designed in this thesis are all ensured. Finally, the experimental results are done to verify the positioning property for the electromagnetic-levitation platform by using the proposed controllers. Keywords：maglev system, sliding-mode

並列關鍵字

maglev system ； sliding-mode contro ； currrent controller ； digital signal processor

參考文獻

[1] K. Sawada, “Outlook of the Superconducting Maglev,” IEEE Proceedings., vol. 97, no. 11, pp. 1881–1885, November 2009.

[2] K. X. Qian, P. Zeng, and H. Y. Yuan, “Novel Magnetic Spring and Magnetic Bearing,” IEEE Transactions on Magnetics., vol. 39, no. 1, pp. 559–561, January 2009.

[3] P. Holmer, “Faster than a Speeding Bullet Train,”IEEE Spectrum ,vol.40, pp. 30-34, August 2003.

[4] F. J. Lin, L. T. Teng, and P. H. Shieh, “Intelligent Adaptiv Backstepping Control System for Magnetic Levitation Apparatus,” IEEE Transactions on Magnetics., vol. 43, no. 5, pp. 2009–2018, May 2007.

[5] J. A. Duan, H. B. Zhou, and N. P. Guo, “Electromagnetic Design of Novel Linear Maglev Transportation Platform With Finite-Element Analysis,” IEEE Transactions on Magnetics., vol. 47, no. 1, pp. 260–263, January 2011

國際替代計量

以數位訊號處理器為基礎之電磁懸浮式精密定位控制系統設計

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