在這論文中，利用實驗來研究原型磁浮車的控制器及其系統鑑別結果。首先設計六維磁浮車之機械結構及其電路系統，在這?使用四個混合電磁鐵致動器來分別控制磁浮車之正向懸浮，另外使用四個電磁鐵來控制磁浮車之側向維持在鐵軌的中央，不與鐵軌有任何的接觸。 先藉由PD控制磁浮車穩定地懸浮於空中，再經由系統鑑別來估計系統的模型。又根據系統鑑別實驗所得來之系統模型來設計滑動模式控制器，進而降低磁浮車在控制中時之穩態誤差。在各種的實驗測試中，可知”SMC控制器優於PD控制器，且具較大之強健性”。 In this thesis, the control and identification for a prototype Maglev system are studied experimentally. We first design the mechanical structure and electrical circuits for this six-degree-of-freedom Maglev system. Here four hybrid electromagnetic actuators are used to levitate the car body along the normal direction and another four lateral actuators are employed to suspend the car body on the central line of the rail. To estimate the model, system identifications are conducted by using a traditional PD controller to levitate the car body steadily. With the estimated model, we develop a sliding mode controller (SMC) to reduce the air gap errors of the car body, in the presence of system's model errors and disturbances. Various tests are performed to study effectiveness of the PD and SMC controllers, which show that the SMC controller is more robust than the PD controller. The experience gained from the experiments and the characteristics of the system are discussed.
