- 作者: 洪聯馨; 周子明; 林世昌
- 作者服務機構: 國立清華大學動力機械研究所
- 中文摘要: 本文目的,在根據磁浮系統之非線性動態模式,提出一種實用之多變數滑動模式控制設計方式與實施方法。與基於線性化模式所設計之控制器相比較,根據非線性模式所設計之控制器不易受操作狀態之改變而影響其性能。在控制器設計中,本文所提出的設計方法可保證獲得滿足滑動模式存在條件的控制律。所設計的控制器成功地用數位訊號處理器實施於二自由度的磁浮實驗系統。實驗結果顯示:在參數變動及外界干擾下,可用相同的控制器,使實驗系統在不同的操作點都能受控於預設之滑動模式動態。
- 英文摘要: This paper presents a practical design and implementation method for multivariable sliding modecontrol of magnetic suspension systems represented by a nonlinear dynamic model. Compared with methodsbased on a linearized model, the controller based on the nonlinear model is much more insensitive tovariation in operating conditions. In the controller design, the proposed design method ensures the existenceof a control law to satisfy the sliding mode condition. Herein, the designed controller is successfullyimplemented using a digital signal processor in an experimental magnetic suspension system with twodegrees of freedom. Experimental results indicate that the system in the presence of significant parametervariation and external disturbance is sufficiently controlled by predetermined sliding mode dynamics atany desired operating point, using the same controller.
- 中文關鍵字: multivariable sliding mode control; nonlinear control; magnetic suspension
- 英文關鍵字: --