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研究生：	柯政昌 Ker, Cheng-Chang
論文名稱：	磁浮致動器的系統設計、驗證與動態球運動控制系統之應用。 System Design and Verification of Magnetic Suspension Actuatorsin Dynamic Ball Motion Control Applications
指導教授：	王榮泰 Wang, Rong-Tyai 林清一 Lin, Chin E.
學位類別：	博士 Doctor
系所名稱：	工學院 - 工程科學系 Department of Engineering Science
論文出版年：	2007
畢業學年度：	95
語文別：	英文
論文頁數：	149
中文關鍵詞：	磁浮避震器、磁浮致動器、球與桿系統
外文關鍵詞：	magnetic suspension vibration absorber, magnetic suspension actuator, Ball and Beam System, Ball and Plate System
相關次數：	點閱：93 下載：6
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磁浮系統具有無摩擦、無接觸與無噪音的特性，因此而導致於它在高科技工業的發展與應用。因為有這些潛在的優點，本論文討論的焦點鎖定在磁浮致動器的零組件設計，系統的實現及更深入的非線性之動態球運動控制平台的驗證與應用。本磁浮致動器的設計程序從基本的設計概念出發到參數的建立，然後設計出基本的雛型結構以做為電磁模擬的依據；並根據模擬的結果決定建構硬體所需的材料及機械尺寸，最後確定了致動器的規格，並據以加工製造出致動器的模型以供測試及驗證，最後使用閉迴路PID控制器來改善其性能。有了初步的基礎後再重新修正設計規格，重複先前的設計、模擬與驗證步驟製作出另一支結構類似的磁浮避震器，並將它的功能轉化為磁浮致動器以支援後續更高階的研究。利用致動器的精確定位及對外界擾動的調節能力，建構非線性控制系統的實驗平台，用以驗證非線性控制方法，包括經典的球與桿和球與平面的平衡穩定及軌跡追蹤的問題。對於此一非線性系統，在還沒有發展系統的運動方程式之前，選用模糊控制器在球與桿系統中來先期評估這個致動器的性能並得到預期的效果。接著使用兩支相同的致動器以建構測試平台及發展系統的運動方程式，並應用倒階控制器的設計原理發展出適合這兩種不同的非線性控制實驗平台的控制器及其電磁力方程式。幾種不同的平衡穩定及軌跡追蹤實驗也都符合預期的結果，這些結果與理論的推導都獲得相同的驗證。文章最後對未來的改進方法及研究方向提出一些可行性的建議。

Magnetic suspension system has features of contact-free, friction-free, low contamination and low noise. The characteristics lead to development and application into high technology industries. Based on such potentials, this dissertation focuses a hybrid magnetic suspension actuator in its component design, system implementation and further verification in different nonlinear ball motion control platforms. The development process of the magnetic suspension actuator starts from conceptual design to setup system parameters, then proposes a draft configuration for magnetic field and force simulation to settle hardware material and dimensions, and finally determines specifications of the actuator. According to the simulation results, a hybrid magnetic suspension vibration absorber is fabricated for test and performance verification. A PID controller is implemented to improve the vibration absorber performance. The magnetic suspension actuator has been verified with accurate position control characteristics.
Using the magnetic suspension actuator, the control system implementations into ball and beam system and ball and plate system have been studied by introducing different control theory. For the serial nonlinear system, a fuzzy controller is used to evaluate the actuator performance prior to system motion equation development to predict system performance. Under the support of Lagrangian theory, the system motion equations can be developed. Based on Lyapunov function and Backstepping controller design procedure, a suitable controller and its electromagnetic force equations are derived and implemented into these two control platforms. Several experiments are carried out to verify the system performance and capability. The test results reveal that the overall characteristics are well controlled in a highly reliable performance.
In this dissertation, the complete procedure to develop the magnetic suspension system for ball motion control has been demonstrated in details. Both technical practice and theoretical manipulation are developed to support the proposed magnetic suspension operation systems.

ABSTRACT      	                                                            i
摘要	                                                                   iii
誌謝	                                                                     v
CONTENTS	                                                                    vi
LIST OF TABLES	                                                           ix
LIST OF FIGURES	                                                            x
NOMENCLATURE	                                                         xiii
CHAPTER I
INTRODUCTION	                                                            1
  1.1 Problem Statement	                                                   1
  1.2 Literature Survey on Magnetic Suspension Actuator	              6
  1.3 Dissertation Outline	                                                   8
CHAPTER II
HYBRID MAGNETIC SUSPENSION VIBRATION ABSORBER DESIGN AND IMPLEMENTATION	    12
  2.1 Introduction	                                                           13
  2.2 Design Considerations	                                                  15
  2.3 System Identification and Simulation	                                19
    2.3.1 System Identification	                                         19
    2.3.2 Magnetic Loop Simulation	                                         23
  2.4 System Analysis and Transfer Function	                                26
  2.5 Controller and Circuit Design	                                         31
    2.5.1 Controller and Algorithm	                                         31
    2.5.2 Displacement detection and Driving Circuit	                      37
  2.6 Implementation and Verification	                               40
  2.7 Concluding Remarks	                                                 42
CHAPTER III
DYNAMIC VERIFICATION OF BALL AND BEAM SYSTEM USING FUZZY LOGIC CONTROL	    44
  3.1 Modification of MS Actuator	                                         44
  3.2 Ball and Beam System Platform	                                         46
  3.3 Ball and Beam System and Parameter	                                48
    3.3.1 Control System Description	                                         48
    3.3.2 Control Feedback and State Variable Measurement	             50
  3.4 System Analysis	                                                  54
  3.5 Fuzzy Logic Controller (FLC)	                                         57
  3.6 FLC System Performance	                                         63
  3.7 Concluding Remarks	                                                  68
CHAPTER Ⅳ
BACKSTEPPING CONTROL IMPLEMENTATION ON BALL AND BEAM SYSTEM	             69
  4.1 Introduction	                                                           70
  4.2 System Apparatus	                                                  72
  4.3 Control System and Circuit Design	                                73
    4.3.1 Modeling and Identification for MS Actuator	                      75
    4.3.2 State Variable Measurement	                                        77
  4.4 Motion Equation                                               79
  4.5 Backstepping Controller Development                          83
    4.5.1 Brief Discussion of Backstepping Control　　83
    4.5.2 The Backstepping Controller Design	　92
  4.6 System Verification	　　　　　　　　　　100
  4.7 Concluding Remark	　　　　　　　　　　104
CHAPTER Ⅴ
DESIGN AND IMPLEMENTATION OF BALL AND PLATE SYSTEM USING BACKSTEPPING CONTROLLER	　　　　　　　　　　106
  5.1 Introduction	　　　　　　　　　　　　　　　107
  5.2 System Description	　　　　　　　 　　　108
  5.3 State Variable Measurement	　　　　　　110
    5.3.1 System Modeling and Identification 　　111
    5.3.2 State Variable Measurement	　　　 　　　112
  5.4 System Modeling	　　　　　　　　  　　117
  5.5 Backstepping Controller Design	　　　　 　　123
  5.6 System Verification	　　　　　　　　　　　 128
  5.7 Concluding Remarks	　　　　　　　　　　　　136
CHAPTER VI
CONCLUSIONS	　　　　　　　　　　　　　　　　　137
  6.1 Conclusions	　　　　　　　　　　　　　　　　　137
  6.2 Further Research and Suggestions	　　 　139
REFERENCES	　　　　 　　　　　　　　　　　　　141
PUBLICATION LISTS	　　　 　　　　　　　　　　　　　　147
VITA	　　　　　　　　　　　　　　　　　　　　　　149

                                    

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校內：2008-01-09公開
校外：2010-01-09公開

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