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題 名 | System Modeling and Feedback Linearization Control of a Precision Repulsive Maglev Stage=斥力型磁浮平臺之模型分析與回饋線性化控制 |
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作 者 | 顏家鈺; 黃兆銘; | 書刊名 | 中國機械工程學刊 |
卷 期 | 20:6 1999.12[民88.12] |
頁 次 | 頁517-526 |
分類號 | 446.875 |
關鍵詞 | 斥力型磁浮平臺; 回饋線性化控制; 斥力型磁浮軸承; Magnetic levitation; Feedback linearization; Dynamic modeling; |
語 文 | 英文(English) |
中文摘要 | 在本篇論文中,我們主要的目的是在於控制斥力型磁浮軸承的姿態與運動。由於斥力型磁浮軸承非常乾淨(不需潤滑)且不會有任何摩擦或背隙的發生,因此非常適合在真空或無塵等環境下之高精度定位系統的應用。但由於磁浮系統在先天上具有不穩定的動態,因此系統的閉迴路控制是必須的。但不幸的是,斥力型磁浮軸承又是一個非常複雜的非線性系統,因此其迴授控制律的推導更是困難。在本論文中,首先我們會建立斥力型磁浮軸承的非線性系統模式,並利用輸入輸出迴授線性化(Input-Output Feedback Linearization)搭配 LQG 控制理論來設計我們的控制器,已達到穩定系統並提升系統表現的目的,我們也將所設計的控制器應用在實際的系統之上以驗證我們所設計的控制器確實可以達到我們的要求。 |
英文摘要 | This paper presents the attitude control and the motion control of a repulsive magnetic levitation bearing system (RMLBS). The repulsive magnetic levitation bearing systems are clean and they experience no friction or backlash. Thus, they are very suitable for high accuracy positioning systems in the vacuum or high demanding environments. Feedback controls on these systems are necessary because they arc inherently unstable. Unfortunately, these systems are highly nonlinear and their feedback laws are very difficult to derive. In this paper, the mathematical formulation for the repulsive magnetic levitation hearing system is presented. A feedback linearization method in conjunction with a multi-variable Linear Quadratic Gaussian (LQG) controller is then proposed to accomplish very high performance servo control. Experimental results are also presented to demonstrate the effectiveness of the proposed control. |
本系統中英文摘要資訊取自各篇刊載內容。