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研究生： 楊佳撰
Jian-Juan Yang
論文名稱： 磁浮車控制系統之設計與研究
Design and study of a Maglev control system
指導教授： 董必正
Pi-Cheng Tung
口試委員:
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
畢業學年度： 88
語文別： 中文
論文頁數： 60
中文關鍵詞： 磁浮系統 、滑動控制 、偏壓 、混合式電磁鐵 、系統鑑別
外文關鍵詞： Maglev system, sliding mode controller, bias voltage, PD controller, system identification
相關次數： 點閱：16  下載：0 
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    • 先藉由PD控制磁浮車穩定地懸浮於空中，再經由系統鑑別來估計系統的模型。又根據系統鑑別實驗所得來之系統模型來設計滑動模式控制器，進而降低磁浮車在控制中時之穩態誤差。在各種的實驗測試中，可知”SMC控制器優於PD控制器，且具較大之強健性”。


    To estimate the model, system identifications are conducted by using a traditional PD controller to levitate the car body steadily. With the estimated model, we develop a sliding mode controller (SMC) to reduce the air gap errors of the car body, in the presence of system''s model errors and disturbances.
    Various tests are performed to study effectiveness of the PD and SMC controllers, which show that the SMC controller is more robust than the PD controller. The experience gained from the experiments and the characteristics of the system are discussed.

    Abstract………………………………………...………………I Contents……………………………………………………….II List of Figures………………………………………………..III List of Tables….……………………………...………………VI Chapter1Introduction………………………………………..1 Chapter2Analysis of System Dynamic Model……………...3 2.1Introduction to Reluctance………………………………….………………3 2.2Magnetic Circuit Analysis…………………………………………………..5 Chapter3Controller Design………………………………….9 3.1PD controller………………………………………………………………..9 3.2Principle of Sliding Mode Controller…………………………………...…11 3.3Implementation of Sliding Mode Controller………………………………18 Chapter4Experiments and Results………………………...21 4.1Experimental Apparatus…………………………………………………...21 4.2System Identification……………………………………………………....28 4.3Controlling the Maglev System……………………………………………39 4.4Discussion………………………………………………………………....54 Chapter5Conclusion………………………………………..57 Reference……………………………………………………..58 Appendix……………………………………………………...60

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