本論文描述一機電整合系統的發展及驗證過程，此系統包含了一組兩個自由度的球與板系統以及四組混合式磁浮致動器。球板系統的動態數學模型是利用尤拉-拉格朗日(Euler-Lagrange)方程式推導而成，另一方面，磁浮致動器的動態數學模型是結合牛頓第二運動定律及克希荷夫定律(Kirchhoff’s Law)來導出。觸控面板及加速規與陀螺儀被利用來偵測球的位置及板的姿態，並結合微處理控制器及搭配四元數演算法來更新板的姿態。然後，利用提出的徑向類神經滑模控制器以減少滑模控制器的最大超越量、穩定時間以及改善整個系統的穩定表現。最後由微處理控制器產生的控制訊號透過訊號放大器來推動整個系統來進行系統動態驗證。

This dissertation presents the development and verification of a dynamic mechatronics system for a two degree of freedom ball and plate using four hybrid mode magnetic suspension (MS) actuators. The mathematical model of ball and plate is derived through the Euler-Lagrange method. On the other hand, the model of MS actuator is derived by Newton’s Second Law and Kirchhoff’s Law. Two kinds of sensors, touch panel and MPU6050, are used to detect the ball position and plate posture by applying the quaternion algorithm to update the plate posture with the functions of microcontroller unit (MCU). The proposed control law is a radial basis function neural network sliding mode control (RBFNNSMC) which can reduce system overshoot and shorten the settling time to improve the overall system performance significantly with SMC. Finally, the calculated duty cycle of Pulse Width Modulation (PWM) signals output to this system through the signal amplifier IBT-2 module for system verification.

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