| Summary: | 碩士 === 國立虎尾科技大學 === 自動化工程研究所 === 102 === The linear maglev vehicle system consists of two parts including magnetic-levitation and linear motion. The relation between air gap, current and magnetic force in magnetic-levitation cause the maglev mechanism has highly nonlinear and unstable characteristics. Therefore, this master thesis analyzes the magnetic model and designs dynamic model by Newton’s second law of motion for maglev system. The control strategies are designed by magnetic model to keep the maglev system stability. Then, a backstepping control (BSC) is firstly designed for the stable balancing control of maglev system. In order to relax the requirement of detailed system parameters and to eliminate the chatting phenomena, a estimator backstepping (EBSC) is further investigated. To simplify the control scheme and increase the system response, the current controller is designed in the third chapter.All the control strategies in this thesis for the linear maglev vehicle system are derived in sense of Lyapunov stability analysis so that the asymptotical stability of the closed-loop control system can be guaranteed.Finally, the effectiveness and robustness of the proposed control strategies in this thesis are verified by numerical simulations and experimental results.
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