磁場感測磁浮系統之多回路比例積分微分控制

Multiloop PID Control of Field-Sensed Magnetic Suspension System

本文是一篇實作論文，提出磁場感測磁浮系統的多回路比例積分微分控制。以磁場感測器量測磁鐵的位置，以脈衝寬度調變技術驅動電磁線圈電流。本磁浮控制系統有兩個控制回路，內回路是採用比例積分控制器，外回路則採用比例微分控制器。在控制學理方面，本文使用路斯穩定度準則探討此多回路控制系統的穩定性，實驗結果證明這個控制原理與控制結構可以用來控制磁浮系統的穩定平衡。本文的取向主要是技術教育的目的，所提出的磁浮控制系統實作成本低廉，非常適合作為大專院校實作教學的範例或大學部控制系統課程的參考教具。本文之實驗影片已經上傳到YouTube以供教學實作參考。

This paper proposes multiloop PID control for a field-sensed magneticsuspension system. The magnet position is measured by the magneticfield sensor and the coil current is driven by PWM technology. Two controlloops are implemented. The inner loop is PI control and the outerloop is PD control. This control scheme is mathematically analyzed bythe Routh stability criterion. The stability of the magnetic suspensionsystem is guaranteed and the experimental result is accomplished successfully.This paper is technology-education-oriented. The proposed magneticsuspension system is low-cost and appropriate for hands-on experimentby undergraduate control education students. The video of theseexperiments has been uploaded to YouTube, where it can serve as teachingmaterial for undergraduate control curricula.