摘要

本論文旨在設計與研製一套磁浮控制系統，整體系統係由磁浮受控體、位置感測器、電流驅動器及控制器四個部份所組成。磁浮受控體由電磁鐵與鐵球所構成，經過系統建模與分析後可知其本身為一非線性且不穩定的系統。在本論文中，吾人依不同的控制理論，分別設計了相位領先控制器與順滑模態控制器來達到定位控制之目的，而定位控制乃指控制鐵球磁浮於空中並保持平衡不落下。此外在本系統中，吾人設計了位置感測器用來偵測鐵球的位置以作為系統的回授訊號；電流驅動器之功能為提供電磁鐵線圈穩定的電流，以產生磁力來平衡鐵球所受之重力。在控制器的實現方面，吾人採用德州儀器公司所生產的定點式運算之數位訊號處理器，型號為TMS320F2812，利用其快速的運算能力和豐富的運動介面以及通訊介面，進而實現效能優越的數位控制器。最後，由模擬結果及實驗結果得知順滑模態控制器的性能及強健性皆較優於相位領先控制器，由此也驗證本論文理論及實作之一致性。

Abstract

The main objective of this thesis is to design and implement a magnetic levitation control system, which consists of the plant, optical position sensor, current driver and controller. The plant consists of an electromagnetic coil and iron-ball. From system modeling, it shows that the plant is nonlinear and unstable. In this thesis, the phase-lead controller and sliding-mode controller are designed to stabilize the plant such that the iron-ball keeps floating in the air. In this control system, the optical position sensor is used to sense the position of the iron-ball. The current driver is used to supply the stable current to the electromagnetic coil. In the implementation of the controller, the Texas Instruments TMS320F2812 digital signal processor is used to implement the high performance digital controller with designed peripheral circuits. This processor provides highly integrated solutions for this demanding control system. Finally, from simulation and experimental results, it shows that the sliding-mode controller has superior performance and robustness. A good agreement between the theoretical development and experimental investigation is also obtained.

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