- 作者: YING-SHING SHIAO
- 作者服務機構: Department of Industrial Education National Changhua University of Education
- 中文摘要: This paper reports on the design of a controller for keeping a steel ball suspended in the air. In the ideal situation, the magnetic force produced by current from an electromagnet will counteract the weight of the steel ball. Nevertheless, the fixed electromagnetic force is very sensitive, and there is noise that creates acceleration forces on the steel ball, causing the ball to move into the unbalanced region. The main function of this controller is to maintain the balance between the magnetic force and the ball's weight. According to the analytical method, the mathematical models of this magnetic levitation system were established with the goal of designing the control system. System linearization and phaselead compensation were employed to design the controller of this unstable nonlinear system. The algorithm proposed in this paper provides a robust closed-loop magnetic levitation system which can stabilize the system over a large range of variations of the suspended mass. The design methods of this system are presented in this paper. And lastly, the hardware is implemented for a scientific demonstration.
- 英文摘要: --
- 中文關鍵字: magnetic levitation system, nonlinear system, system linearization, phase-lead compensation, robust control
- 英文關鍵字: --