本篇論文主要是提出一種改良式強力型的模糊邏輯控制器，並將它應用在磁浮平台系統做動態控制驗證。這個具有2個自由度的磁浮平台主要是透過混合式磁浮致動器來推動，同時透過強力型的模糊邏輯控制律，根據球的位置誤差與位置誤差的微分項，來決定致動器的控制力道，讓球滾到目標點。使用這種強力型的模糊邏輯控制器，相較於傳統的模糊邏輯控制器，可以大幅降低最大超越量，並縮短達到穩定狀態的時間，改善整個系統的穩定表現。此外也利用Euler-Lagrange 方程式來推導球與平台的運動方程式，並藉由商業化的觸控板作為球位置感測器，透過微處理器產生脈波寬度調變類型的控制訊號後，經由訊號放大器放大控制訊號，來推動混合式磁浮致動器。最後藉由任意位置的追蹤與圓軌跡追蹤兩種測試，來驗證磁浮平台的動態控制表現。

This dissertation presents an enforced fuzzy logic control (EFLC) implementation on a ball and plate system (B&P) for dynamic control verifications. A two degree-of-freedom (DOF) platform is constructed for experiments using hybrid magnetic suspension (MS) actuators. The EFLC adds an enforcing rule to buffer the running ball to approach the target. It reduces the overshoot, shortens the settling time, and improves the overall performance significantly. The mathematical model of the ball and plate operation is derived through the Euler-Lagrange equation. Using a commercial touch panel as position sensor, a microprocessor controller is implemented on the proposed system to generated PWM current outputs to activate the MS actuators. The tests verify the random position tracking and circular trajectory tracking performance on the MS B&P under different conditions.

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