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系統識別號 U0026-2507201211095400
論文名稱(中文) 應用影像模糊控制於磁浮避震器球與平板系統
論文名稱(英文) Image Fuzzy Control to Magnetic Suspension Ball and Plate System
校院名稱 成功大學
系所名稱(中) 航空太空工程學系碩博士班
系所名稱(英) Department of Aeronautics & Astronautics
學年度 100
學期 2
出版年 101
研究生(中文) 劉孟哲
研究生(英文) Meng-Che Liou
電子信箱 lastlove0406@msn.com
學號 p46991268
學位類別 碩士
語文別 英文
論文頁數 95頁
口試委員 指導教授-林清一
指導教授-李君謨
口試委員-陳添智
中文關鍵字 模糊邏輯控制器  磁浮致動器  CCD camera  脈波寬度調變 
英文關鍵字 Fuzzy logic control  Magnetic suspension actuator  CCD camera  PWM 
學科別分類
中文摘要 本篇論文提出模糊邏輯控制器,將它應用在磁浮平台系統做動態控制驗證。此磁浮平台具有2個自由度,使用磁浮致動器來推動,同時透過模糊邏輯控制律,根據球的位置誤差與位置誤差的微分項,來決定控制的力道,使球滾到目標點。此外,利用Euler-Lagrange 方程式來推導球與平台的運動方程式。使用CCD camera 作為球的位置感測器,透過微處理器產生脈波寬度調變類型的控制訊號後,經由訊號放大器放大控制訊號後,來推動磁浮致動器。最後藉由位置的追蹤測試,來驗證磁浮平台的動態控制表現。
英文摘要 This thesis presents a fuzzy logic control (FLC) implementation on a ball and plate system for dynamic control verifications. A two degree of freedom (DOF) platform is constructed for experiments using four magnetic suspension (MS) actuators. The mathematical model of the ball and plate operation is derived through the Euler-Lagrange equation. Using CCD camera as a position sensor, a microcontroller is implemented on the proposed system to generate PWM current outputs to activate the MS actuators. The tests verify the position tracking performance on the MS ball and plate system.
論文目次 ABSTRACT IN CHINESE i
ABSTRACT ii
CONTENTS iii
LIST OF TABLES vi
LIST OF FIGURES vii
CHAPTER I
INTRODUCTION 1
1.1 Introduction 1
1.2 Literature Survey 3
1.2.1 Magnetic Suspension System (MSS) Overview 4
1.2.2 Fuzzy Logic Control (FLC) 6
1.2.3 Ball and Plate (BP) System Overview 7
1.3 Motivation 8
1.4 Thesis Outline 8
CHAPTER II
CONSTRUCTION OF THE BALL AND PLATE SYSTEM 11
2.1 Ball and Plate System 11
2.1.1 Magnetic Suspension Actuator Design and Material Considerations 12
2.2 Dynamic Model of the Ball and Plate System 18
2.2.1 The Proposed Assumptions 18
2.2.2 Mathematical Model 21
2.3 Analysis of Magnetic Field 25
2.3.1 Electromagnetic Force 25
2.4 Remark 31
CHAPTER III
CONSTRUCTION OF THE BALL AND PLATE CONTROL HARDWARE 33
3.1 System Concept and Architecture 33
3.2 Signal Amplifier 36
3.2.1 Photocoupler 37
3.2.2 MOSFET 39
3.3 Microcontroller 43
3.4 Image System 47
3.4.1 CCD (Charge-Coupled Device) Camera 47
3.4.2 Image Frame Grabber 48
3.4.3 MATLAB/GUI 49
3.5 Remark 50
CHAPTER IV
DESIGN OF BFLC AND EFLC FOR BALL AND PLATE CONTROL SOFTWARE 52
4.1 Color Space 53
4.2 Thresholding 54
4.2.1 Otsu’s Thresholding Method 54
4.3 Target Center of Gravity 58
4.4 Basic Fuzzy Logic Control 60
4.5 Application of the FLC in Ball and Plate System 62
4.5.1 Fuzzification 65
4.5.2 Decision Making Logic 67
4.5.3 Defuzzification 71
4.6 Position Tracking 72
4.7 Remark 74
CHAPTER V
EXPERIMENT IMPLEMENTATION 76
5.1 PWM Signals Calibration 76
5.2 Position Tracking 78
5.2.1 Position (0, 0) tracking with BFLC 78
5.2.2 Position (0, 0) tracking with EFLC 83
5.3 Remark 88
CHAPTER VI
CONCLUSIONS 89
6.1 Conclusions 89
6.2 Suggestions for Further Work 90
6.2.1 The Existing System Problems 90
6.2.2 Further Work 91
REFERENCES 92

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