Design and Analysis of Robust Controller for Magnetic Levitation Systems 莊舜宇、陳盛基
E-mail: [email protected]
ABSTRACT
This work presents a fuzzy gain scheduling control scheme for an electromagnetic suspension system, including both an
electromagnet and a permanent magnet. The control system aims to ensure a gentle takeoff; maintenance of approximately zero power at an equilibrium point which varies according to payload, and finally, asmooth landing. An experiment with a
single-degree-of-freedom levitation device is performed to demonstrate the success of the developed fuzzy controller. Experimental results confirm the smoothness and robustness of this control method. This study has presented an integrated gap-tracking and approximately zero-power control scheme for the electromagnetic levitated actuator with a permanent magnet and an electromagnet. These control functions include a gentle takeoff, an approximately zero-power levitation, and a smooth landing procedure for enhancing system reliability and safety. This study is a systematic approach to the design of fuzzy gain scheduled control systems based on multiple linear controllers for high performance during regulation and tracking. Experimental results demonstrate the effectiveness of the proposed controller.T.
Keywords : scheduling control,electromagnetic suspension system ,permanent magnet.
Table of Contents
封面內頁 簽名頁 中文摘要．．．．．．．．．．．．．．．．．．．．．．．．．．iii 英文摘要．．．．．．．．．．
．．．．．．．．．．．．．．．．iv 誌謝．．．．．．．．．．．．．．．．．．．．．．．．．．．．v 目錄．．．
．．．．．．．．．．．．．．．．．．．．．．．．．vi 圖目錄．．．．．．．．．．．．．．．．．．．．．．．．
．．．vii 表目錄．．．．．．．．．．．．．．．．．．．．．．．．．．．ix 第一章簡介．．．．．．．．．．．．．
．．．．．．．．．．．．1 第二章省能源磁鐵磁浮系統及有限元素分析．．．．．．．．．．．3 第三章系統動態．．
．．．．．．．．．．．．．．．．．．．．．15 第四章傳統磁浮系統．．．．．．．．．．．．．．．．．．．．．17 第五章模糊增益程序控制器設計．．．．．．．．．．．．．．．．19 第六章實驗結果．．．．．．．．．．．．．．．
．．．．．．．．28 第七章結論及發展應用．．．．．．．．．．．．．．．．．．．．37 參考文獻? 圖目錄 圖1 單自由 度磁浮系統之組成元件．．．．．．．．．．．．．．．3 圖2 混成磁鐵磁浮系統之簡化模型．．．．．．．．．．．．
．．．4 圖3 永久磁鐵之B-H 曲線．．．．．．．．．．．．．．．．．．．6 圖4 二維有限元素分析流程圖．．．．．．
．．．．．．．．．．．7 圖5 混成磁鐵幾何模型．．．．．．．．．．．．．．．．．．．．8 圖6 模型網目切割圖．．
．．．．．．．．．．．．．．．．．．．9 圖7 磁通分佈圖．．．．．．．．．．．．．．．．．．．．．．．9 圖8 磁 通密度分佈圖．．．．．．．．．．．．．．．．．．．．．10 圖9 磁場強度分佈圖．．．．．．．．．．．．．．．．
．．．．．10 圖10 有限元素分析之磁力曲線圖 ．．．．．．．．．．．．．．．11 圖11 分析與實測之磁力曲線圖 ．．
．．．．．．．．．．．．．．12 圖12 實測磁力曲線圖及配湊曲線結果 ．．．．．．．．．．．．．13 圖13 不同電流i 下，磁浮力F 對懸浮高度x 之特性曲線 ．．．．．14 圖14 PD 控制器之控制方塊圖．．．．．．．．．．．．．．．．
．17 圖15 不同區段之目標響應 ．．．．．．．．．．．．．．．．．．20 圖16 力量-位置因子 k x ．．．．．．．．．．
．．．．．．．．21 圖17 力量-電流因子 ki ．．．．．．．．．．．．．．．．．．．21 圖18 平衡點軌跡 ．．．．．．
．．．．．．．．．．．．．．．．22 圖19 控制增益p K 之趨勢 ．．．．．．．．．．．．．．．．．．23 圖20 控制增 益d K 之趨勢 ．．．．．．．．．．．．．．．．．．24 圖21 磁浮系統模糊控制方塊圖 ．．．．．．．．．．．．．．
．．25 圖22 懸浮高度之歸屬函數 ．．．．．．．．．．．．．．．．．．25 圖23 控制器增益的歸屬函數 ．．．．．．
．．．．．．．．．．．25 圖24 控制系統架構圖 ．．．．．．．．．．．．．．．．．．．．28 圖25 實驗裝備 ．．．
．．．．．．．．．．．．．．．．．．．．29 圖26 量測到的懸浮高度響應及其所對應的電流曲線 ．．．．．．．30 圖27 位置誤差 ．．．．．．．．．．．．．．．．．．．．．．．31 圖28 磁浮系統時間對應高度 ．．．．．．．．．．
．．．．．．．32 圖29 對應圖28 之電流響應．．．．．．．．．．．．．．．．．．33 圖30 狀態? ．．．．．．．．．
．．．．．．．．．．．．．．．34 圖31 狀態? ．．．．．．．．．．．．．．．．．．．．．．．．34 圖32 狀態? ．
．．．．．．．．．．．．．．．．．．．．．．．35 圖33 狀態? ．．．．．．．．．．．．．．．．．．．．．．．
．35 表目錄 表1 混成磁鐵設計參數．．．．．．．．．．．．．．．．．．．．5 表2 模糊規則表．．．．．．．．．．
．．．．．．．．．．．．．26
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