| Summary: | 碩士 === 國立成功大學 === 工程科學系碩博士班 === 96 === Abstract
The main objective of this thesis is to design and implement a magnetic levitation control system, which consists of the plant, optical position sensor, current driver and controller. The plant consists of an electromagnetic coil and iron-ball. From system modeling, it shows that the plant is nonlinear and unstable. In this thesis, the phase-lead controller and sliding-mode controller are designed to stabilize the plant such that the iron-ball keeps floating in the air. In this control system, the optical position sensor is used to sense the position of the iron-ball. The current driver is used to supply the stable current to the electromagnetic coil. In the implementation of the controller, the Texas Instruments TMS320F2812 digital signal processor is used to implement the high performance digital controller with designed peripheral circuits. This processor provides highly integrated solutions for this demanding control system. Finally, from simulation and experimental results, it shows that the sliding-mode controller has superior performance and robustness. A good agreement between the theoretical development and experimental investigation is also obtained.
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