Analysis and Design of Robust Fuzzy Controller for Magnetic Levitation Suspension System 王茂祥、陳昭雄
E-mail: 9224490@mail.dyu.edu.tw
ABSTRACT
Magnetic levitations suspension system is attracted and positioned in the air by electromagnetic force produced by the control of the electromagnet. However, there is nonlinear relationship between electromagnetic force and current. Besides, building a mathematics model needs some assumptions and neglects. As a result, unpredictable difference exists between the model and a real physical system. Furthermore, if we use the tradition linear control theory, the control will be limited nearby the equilibrium and will suffer from instability because of uncertain factors of the system. Therefore, we must select a controller which has good performance for a class of In this study, we choose fuzzy logic controller, but the controller is always so non-systematic and subjective. Therefore, our goal is to present a systematic design method of fuzzy controllers to achieve ∞ H optimal performance for a class of uncertain nonlinear systems. First of all, we analyzed the dynamic behavior of a product-Sum type fuzzy controller. The result reveals that this type of fuzzy controller behaves similar to a state feedback controller with non-constant feedback gains. Secondly, we want to conquer the influence of non-linear and uncertainty on the control system. We analyzed and applied the ∞ H control design technique in order to -viiattenuate the system error to a prescribed level by letting the dynamic disturbance of system non-linear characteristic to be adjusted by the parameter of the controller. In this way, we can make sure that the control system has a robust stability performance. Finally, we built a real magnetic levitation suspension system by applying the proposed fuzzy controller. As a result, the system helped us to confirm the validity and feasibility of the controller.
Keywords : nonlinear system, magnetic levitation system, fuzzy control, ∞ H control Table of Contents
-ix- 第一章前言... 1 1.1 研究動機... 1 1.2 研究目 的... 2 1.3 文獻回顧... 3 1.4 本文內容簡
介... 5 第二章磁浮懸吊系統之介紹及分析... 7 2.1 磁浮的歷 史... 7 2.2 磁浮的種類... 7 2.3 直流電磁鐵之電磁力分 析... 8 2.4 動態方程式推導... 14 2.5 線性
化... 14 -x- 第三章強健模糊控制器之分析與設計... 17 3.1 模糊邏 輯控制器架構... 17 3.2 Product-Sum 形式模糊控制器的分析... ...22 3.3 強健 模糊控制系統之設計與分析... ...26 第四章磁浮懸吊系統硬體架構... 32 4.1 磁浮懸吊模組...33 4.2 位置感測器...34 4.3 驅動
器... 39 4.4 電腦介面卡(AD 卡及DA 卡)... 41 4.5 霍爾元件電流 感測器... 42 第五章磁浮懸吊控制系統...44 5.1 PID 控制器之設 計...44 5.2 強建模糊控制器設計...47 5.3 模
擬...52 5.3.1 PI 電流控制模擬...52 5.3.2 PID 控制器定位 控制之模擬... ...54 5.3.3 強健模糊控制器定位控制之模擬... ...58 第六章實驗結 果...61 6.1 PI 電流回授控制器...62 6.2 PD 定位控制 器...63 6.3 PID 定位控制器...65 6.4 強健模糊控制器定位控 制...67 第七章結論與建議...73 參考文
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