TWM403734U - Two-dimensional fuzzy sliding mode control experimental platform of magnetic levitation control system - Google Patents

Description

M403734 V. New description: [New technical field] [0001] This creation is about a two-dimensional fuzzy sliding mode control experimental platform for maglev control system, especially the use of embedded controller combined with two-dimensional fuzzy sliding mode control. The advantages are then created into a novel maglev control system. [Prior Art] [0002] According to the magnetic floating system, it is applied at the engineering level, including magnetic floating bearing, magnetic floating wind tunnel, maglev train and semiconductor magnetic floating seismic platform. The magnetic floating system is a nonlinear system and is an open loop unstable system. It must have proper control to maintain the stable balance. In the past decade or so, the fuzzy slip-and-moving mode control method has been very popular. Fuzzy sliding mode control combines the advantages of fuzzy control and sliding mode control. However, for a certain type of nonlinear system, the sliding mode control can consider the system's uncertainty and external interference, and achieve the purpose of robust control. The fuzzy set theory is proposed by Zade. Fuzzy control also has a history of forty years. These control methods have been successfully used in many applications. Fuzzy Sliding Mode Control provides systematic design steps and minimizes fuzzy control rules. The fuzzy sliding mode control can be used to stabilize the controlled body. At present, the stability of fuzzy sliding mode control needs to be strengthened, and the price is too high. [New content] [0003] In order to improve the current technical practices and solve problems, Form No. A0101 苐 4 pages / total 18 The purpose of Page 3 is to provide a kind of magnetic float control "the two-dimensional fuzzy sliding Wu control experiment platform, using the advantages of embedded control crying humanoid mode control, into:::-..·Fuzzy sliding two-dimensional fuzzy Sliding mode control and wealth control system control system "for the above purpose" provided by this creation - a kind of maglev control system of two-dimensional fuzzy sliding pure heart financial test flat m - a two-dimensional fuzzy sliding mode control unit, "enemy The controller controls the driving unit, an electromagnetic coil unit, a maglev controlled early, an infrared sensing unit, and a power supply unit; the JL features: 'The spear is the two-dimensional mode-sharing mode control unit, including the control The program, the control program is carried by the embedded controller; the black-input controller is used to electrically connect the current control drive unit, the electromagnetic coil unit The infrared ray unit and the magnetic levitation controlled unit; the current control driving unit m has a first control loop and a second control loop 'the first control loop is proportionally integrated to control the electromagnetic coil unit motor and the first control a loop to control the position of the maglev controlled unit; the electromagnetic coil is used to generate a magnetic stress to control the maglev controlled unit; and the infrared sensing unit includes an infrared emitter and an infrared receiver; wherein the magnetic float is a control unit, when the controlled position is changed, the infrared emission state outputs a voltage to the embedded controller; and the embedded controller 'accepts the infrared receiver to output an electric form number A0101 M403734 to press the magnetic float Controlled unit controlled position; and the power supply unit mainly provides the embedded controller, the current control driving unit and the electrical connection of the infrared sensing unit. The two-dimensional fuzzy sliding mode control experiment of the above maglev control system a platform, wherein the electromagnetic coil unit is located above the maglev controlled unit. The two-dimensional fuzzy sliding mode control experimental platform of the system, wherein the maglev controlled unit is located in the middle line of the infrared emitter and the infrared receiver. The above-mentioned magnetic floating control system has a two-dimensional fuzzy sliding mode control experimental platform, wherein the magnetic floating When the controlled unit is located in the middle building line, the output voltage of the infrared sensing unit is about 娜1 威 distance. The electromagnetic 圏 unit is about 7. 7 cm. The creation has the following advantages: 1. The two-dimensional fuzzy sliding of the creation The model control experimental platform can be used as the basis of stability control. 2. The two-dimensional fuzzy sliding mode control experimental platform can achieve control nonlinearity. 3. This creation-dimensional fuzzy sliding mode control experimental platform can effectively improve the damping. Means] [_ This creation can be implemented in different forms, but the ones shown below and the following are the preferred embodiments of the creation. Please refer to the illustration to illustrate a preferred embodiment of the present creation. First, please refer to the figure - Figure 2 - Maglev Control System No. 2 A No. A0101 Page 6 of 18 M403734 Dimensional Fuzzy Sliding Mode Control Experimental Platform, including:

A two-dimensional fuzzy sliding mode control unit (1), an embedded controller (2), a current control driving unit (3), a solenoid unit (4), a magnetically controlled unit (5), an infrared The sensing unit (6) and a power supply unit (7), the special feature is that the two-dimensional fuzzy sliding mode control unit (1) 'includes a control program, and loads its control program into the embedded controller ( 2); the embedded controller (7) for electrically connecting the current control drive unit (3), the electromagnetic coil unit (4) 'the infrared sensing unit (6) and the maglev controlled unit (5); The current control drive early (3) 'includes a first control loop (31) and a second control loop (3^) 'the first control loop (31) controls the solenoid unit current by proportional integral (4) And the second control loop (32) controls the position of the maglev controlled unit (5); the electromagnetic coil unit (4) is configured to generate magnetic stress to control the maglev control unit (5); the infrared sensing unit (8) includes An infrared emitter (8)) and an infrared receiver (62); The magnetic ocean party control unit (5), when the controlled position is changed, the infrared receiver (2) outputs a voltage to the dormant controller (7); and the embedded control benefit (2) 'which accepts the infrared receiver ( 62) output voltage to calculate the control position of the party control unit (5); and the power supply unit (7) 'mainly provides the embedded controller (2), the current control drive unit and the infrared infrared sensing unit ( 6) Electrical connection. , △ The above two-dimensional fuzzy sliding mode control experiment of the maglev control system, wherein the electromagnetic coil unit (4) is located above the maglev controlled unit (5). Table No. A0101, the person is referred to the second picture, the third picture, which is the creation of the fA 1 electric & drive and sensing (10) design of the electrical and iron ball position sense page 7 / a total of 18 pages M403734 circuit diagram. As shown in the circuit diagram, (10) is the switch that is just as the switch, and TLP250 is the drive ic of the IGBT. The PWM is controlled by the PWM bee of the eZdsp F2812 board. When the IGBT is turned off, the flywheel diode can avoid circuit open circuit. The LA55-P is a current sensor component that converts the current nickname into a voltage signal. The eZdsp 1?2812 can convert the current 彳§ number into digital data. The sampling frequency is 1{(Hertz. Again, please refer to the fourth figure, which is not intended for the position of the iron ball and the sensed state of the creation. As shown in the figure, the above-mentioned maglev control system, the second fuzzy slip The mode control experiment platform, wherein the maglev control unit (5) is located at a middle line between the infrared emitter (61) and the infrared receiver (62). The two-dimensional fuzzy slide release control experiment of the above maglev control system Level σ, wherein when the maglev control unit (5) is at the middle end, the infrared sensing unit (6) outputs a voltage of about 0.5 volts, and the electromagnetic coil unit (4) is about 〇. 7 The results of this creation experiment are shown in the following chart 1 to chart 5: Chart 1 is the response diagram of current from 1 amp to 2 amps. From the experimental results, the stability time is about 50 milliseconds. This experiment is to measure the characteristic curve of the maglev system. Proportional differentiation can be used as the basis for stability control. The characteristic curve of Figure 2. The horizontal axis is the measured data value of the position, the vertical axis is the square of the current, and the characteristic curve is replaced by the function as shown below. Single Number Α0101 Page 8 of 18 M403734

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Acq Complete M Pos; 0.000s SAVE/REC action Aberdeen image About save image selection folder w

1* CH1 SODmV M 50.0ms 16-Mar-06 12:10 Storage TEK0002.BMP CH1 / 1,50V <10Hz Chart 1 (current output graph)

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1.5 2 Position Measurement Chart 2 (Characteristics of Measurement Data) Form No. 1010101 Page 9 of 18 M403734

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CH2 500mV M 250ms 17-Mar-08 16:51 Format Μ About Save Image Select Folder Save TEK0172.BMP CHI I 0.00V <10Ηζ Chart 3 (2D Fuzzy Sliding Mode Control Results Setpoint Response Diagram

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Form No. A010I Page 10 of 18 M403734

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Format About Save Image Select Folder Save TEK0130.BMP CH1 f 0,00V <10Hz Chart 5 (step response graph of 2D fuzzy sliding mode control) The experimental results are shown in Figures 3, 4 and 5. The control parameters are as follows: <=3.00, <=0.48, 1.2, Α/2=1·〇 ‘=0_01 • Chart 3 is the position response diagram of the iron ball, and the set point is 丨·5 volts. Because there is consideration of the integral decision, there is no steady-state error in the experimental results. Figure 疋 uses the result of two-dimensional fuzzy sliding mode control, the input is a sine wave' input function is . 2 m 1.5 + 0.5 sin The results show that the two-dimensional fuzzy sliding mode control can effectively control the nonlinearity. s chart five is a step-by-step input response graph, using a square wave to input people. The average voltage is 丨·5 volts. The amplitude is 1 volt. Figure 5 can see ft έ /-A f_ The system is a little underdamped. Damping can be improved using two-dimensional fuzzy sliding handle control. Single dock number A0101 Page 1 of 18 The above is only for this creation -

Within the scope. - The best embodiment, when 1, the protection covered by the equivalent change of the 丨 【 【 【 [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ The -® is the design circuit diagram of the coil current driver and sensor of this creation. The second picture is the design circuit diagram of the position sensor of the iron ball of this creation. The fourth picture is a schematic diagram of the position of the iron ball and sensor of the creation. [Main component symbol description] [0006] (1) Two-dimensional fuzzy sliding mode control unit (2) Embedded controller (3) Current control drive unit (3 1) First control loop (32) Diji control loop (4 ) Solenoid unit ' (5) Maglev controlled unit (6) Infrared sensing unit (6 1 ) Infrared transmitter (6 2 ) Infrared receiver (7) Power supply unit Form No. A0101 Page 12 of 18

Claims (1)

M403734 VI. Patent application scope: 1. A two-dimensional fuzzy sliding mode control experimental platform for maglev control system, comprising: a two-dimensional fuzzy sliding mode control unit; an embedded controller; a current control driving unit; a maglev controlled unit; an infrared sensing unit; and a power supply unit; wherein the two-dimensional fuzzy sliding mode control unit includes a control program for loading a control program into the embedded controller; The embedded controller is configured to electrically connect the current control driving unit, the electromagnetic coil unit, the infrared sensing unit, and the maglev controlled unit; the current control driving unit includes a first control loop and a second a control loop, the first control loop controls the solenoid unit current by proportional integral, and the second control loop controls the position of the maglev controlled unit; the solenoid unit is configured to generate a magnetic stress to control the maglev control The infrared sensing unit includes an infrared emitter and an infrared receiver; wherein the maglev controlled unit outputs a voltage to the embedded controller when the controlled position is changed; and the embedding a controller that accepts the infrared receiver to output a voltage to calculate a controlled position of the maglev controlled unit; and the power supply unit mainly provides the enemy controller, the current control driving early element, and the infrared sensation Electrical connection of the measuring unit. 099223828 Form No. A0101 Page 13 of 18 0992074267-0 M403734 2. The two-dimensional fuzzy sliding mode control experimental platform of the maglev control system according to claim 1, wherein the electromagnetic coil unit is located in the magnetic floating Above the control unit. 3. The two-dimensional fuzzy sliding mode control experimental platform of the maglev control system according to claim 1, wherein the maglev controlled unit is located at a middle line between the infrared emitter and the infrared receiver. 5伏特。 The infrared sensing unit output voltage is about 1.5 volts, the output voltage of the infrared sensing unit is about 1.5 volts, the output voltage of the infrared sensing unit is about 1.5 volts. 5厘米。 The distance from the electromagnetic coil unit is about 0. 7 cm. 0992074267-0 099223828 Form No. A0101 Page 14 of 18