適應模糊滑動磁浮避震控制器設計及其在足型機器人避震系統之實現

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Title:	適應模糊滑動磁浮避震控制器設計及其在足型機器人避震系統之實現 Design of adaptive fuzzy sliding-mode maglev suspension controller and its application to foot robot
Authors:	張敦華 Chang, Tun-Hua
Contributors:	機械工程學系數位機電碩士班
Keywords:	磁浮系統磁浮避震器適應模糊滑動控制器追蹤誤差 Magnetic levitation system Magnetic suspension vibrator Adaptive fuzzy controller Tracking error
Date:	2015-06
Issue Date:	2015-08-04 10:43:19 (UTC+8)
Abstract:	磁浮系統是以非接觸方式，運用電磁力使懸浮物體具有漂浮、轉動或移動等行為的系統，其優點為可有效降低機械式接觸造成的震動、摩擦和損耗，延長機械設備的壽命、減少維修頻率並可降低噪音等。另一方面，足型機器人可克服惡劣的道路狀況，然而，足型機器人在崎嶇路面移動行進時，有震動過大的缺點，會影響數據採集、影像捕獲及夾爪定位的準確性，因此需在足部機構加入避震器以吸收震動，使足型機器人具有高避震效能。然而磁浮系統具有非線性的特性使得傳統控制器較難以使用。為克服此問題，本論文提出一個適應模糊滑動磁浮避震控制器，以模糊滑動控制器為主體，輔以適應調變機制，產生一適當反抗磁力，以抵抗重力變化，達到保護足型機器人上的精密電子設備的效果。 Magnetic levitation system (MLS), using the electromagnetic force to float, rotate or move a suspended object, is a non-contact operation mode. This mode can effectively reduce the mechanical vibrations, friction and wearing loss caused by contact operation. Furthermore, it can also prolong the equipment’s life, reduce maintenance frequency and noise. On the other hand, the foot robot can overcome the poor road conditions; however, when the foot mechanism is utilized to provide a motion platform to steer in a bumpy road, the excessive vibration will be occurred and the quaking phenomenon will deeply affect the accuracy of data acquisition, image capture and gripper handling. Therefore, a suspension vibrator must be added to absorb the shock. However, the magnetic levitation system possesses the characteristics of nonlinear and dynamic properties, so it is more difficult to utilize conventional techniques to form the controller. To deal with this problem, an adaptive fuzzy sliding-mode magnetic levitation system controller (AFSMMLSC) is proposed in this thesis. In the proposed structure, the fuzzy sliding-mode controller is acted as the main control part, and the adaptive mechanism is added to form the auxiliary part. The generated magnetic force is used to counteract the variation of the gravity from the platform. Such that the suspension shock can be absorbed and the protection goal of sophisticated electronic devices on the platform can be achieved.
Appears in Collections:	[Department of Mechanical Engineering ] thesis

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