磁場感測磁浮系統之模糊比例微分型控制與分析

Fuzzy PD Type Control and Analysis of a Field-Sensed Magnetic Suspension System

本作品是實作及理論分析的論文，主要取向是技術教育的目的，提出磁場感測磁浮系統的模糊比例微分型控制。以嵌入式控制器硬體執行控制程式，可以實現各種不同的控制理論，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。本作品使用磁感測器測量受控體位置比使用光感測器更具彈性，可以不受環境光源的影響。以脈衝寬度調變技術驅動電磁線圈電流比使用線性放大器更節約能源，符合現今科技的需求。在控制學理方面，本文使用模糊比例微分型控制。這種控制方法計算量相當簡約，不需使用高階的數位晶片，可以降低系統的成本。在學理上特別針對模糊比例微分型控制證明穩定性特質，確認其可用性，這是本論文學理上的貢獻。最後，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，並且比傳統比例微分控制更具彈性與強健性。

This work is both theoretic analysis and a practical paper, and is technology/education-oriented. This work proposes a fuzzy PD control of afield-sensed magnetic suspension system. The controller hardware is anembedded chip, and it can realize various control theories by use ofC-programs. Hence, this paper is appropriate for the undergraduate engineeringcurriculum and is suitable for educational purposes. The magnetposition is measured by a magnetic field sensor, so it is not affected by asurrounding lighting source. The solenoid is driven by pulse width modulationtechnology and it is energy saving.The fuzzy PD control is accomplished for stabilizing the inherently unstable and nonlinear system. The main contribution of this paper is theproof of fuzzy PD stabilization for a magnetic suspension system. By useof derivations of the discrete PD control, the fuzzy PD control is reasonedby analogy. Finally, the experimental results prove that fuzzy PD controlis superior to discrete PD control for a magnetic suspension system.