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題名 | Guidance Control Characteristics for a Maglev System with MIMO Adaptive Sliding Mode Controller=磁浮導引系統之多輸入多輸出適應滑差模式控制器設計 |
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作 者 | 陳美勇; 王晉中; 傅立成; | 書刊名 | 國立臺灣大學工程學刊 |
卷期 | 88 2003.06[民92.06] |
頁次 | 頁13-22 |
專輯 | 「電機工程」專輯 |
分類號 | 448.942 |
關鍵詞 | 磁浮導引; 混成磁鐵; 適應滑差模式控制器; Maglev guiding; Hybrid magnet; Adaptive sliding mode controller; |
語文 | 英文(English) |
中文摘要 | 本研究實現了一套雙軸架構之磁浮定位平台,此平台是雙層架構且由兩個單軸之定位平台組合而成。首先,本研究針對此系統推導出完整之導引動態模型,並基於此動態模型在系統參數未知之狀況下,設計一多輸入多輸出之適應滑差模式控制器用以控制此定位平台之運動姿態。經由實驗結果證實:本研究設計之磁浮定位平台具有高剛度與高解析度之特性,並且與理論分析之結果相符合。 |
英文摘要 | In this paper, a prototype of a double-deck electromagnet levitated guiding platform is proposed and implemented. It is a repulsive maglev system consisting of two single-axis guiding sub-systems. First of all, the dynamic model of the overall system with complete DOFs (degree-of-freedoms) for guidance is derived and analyzed thoroughly. Next, a MIMO adaptive sliding mode controller which deals with the unknown parameters is well designed to regulate the attitude in this system. From experimental results, the high performance in terms of stiffness and resolution has been demonstrated, which quite matches the theoretical performance. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。