臺灣博碩士論文加值系統

　　本論文說明我們目前正在發展的膠囊型內視鏡載具的磁浮控制系統部分。傳統的內視鏡系統具侵襲性，隨著半導體製程與電信技術的進步，電子內視鏡已朝向微小化及無線化發展，但目前最大的缺點是它不能受控制去觀察有興趣進一步的腸胃道部位。因此，我們開發以磁浮為主的無線膠囊型內視鏡三維定位控制系統以應用於腸胃道之檢查。
　　磁浮系統是藉著非機械式接觸的電磁力來抵抗膠囊型內視鏡載具的重量，使物體維持平衡，並懸浮於身體體腔內，因此是一個相當典型的機電整合系統。在本文中將敘述說明磁浮控制系統的設計概念與方法，針對系統的數學模式作分析與探討。而整個系統中，包括電磁線圈的纏繞、永久磁鐵的選擇、膠囊型內視鏡載具的替代物、位置感測器、電壓電流驅動器及控制器之設計與閉迴路系統性能分析並以電腦模擬其響應。由於磁浮系統是一個不穩定且為非線性的系統，因此必須將系統在操作點中線性化，然後利用線性控制的方法設計一個類比相位領先控制器來穩定此系統。在完成硬體製作後，進行包括位置感測器、控制器和驅動器的類比電路實作與基本測試，最後以實驗來驗證本設計系統的可行性。在磁場模擬方面，我們利用COMSOL FEMLAB® 有限元素分析軟體，對於各種不同結構的線圈架構與軸心進行磁場與磁力的模擬分析比較，以得到最佳化的模組。

　　In the study, we illustrate the developing of magnetic levitation system for capsule endoscopy carrier. For traditional endoscope, it often attacked patients’ body and cause uncomfort to the patient. New wireless endoscopy should be used to the advancement of the semiconductor and telecommunication techniques. Wireless capsule endoscopy (WCE) was developed and looked forward to be miniature and wireless, but it cannot observe our gastrointestinal (GI) tract under the control of request. We develop Magnetic Levitation-based 3D orientation system to control the WCE in the GI tract. Electromagnetic levitation system makes use of magnetic force to resist gravity so that the WCE can be suspended in the body cavity without any mechanical systems.In this thesis, the design concepts, magnetic levitation method, and mathematic model of the proposed systems by using coil and permanent magnet is discussed.The hardware design, theoretical model analysis, controller design, and performance analysis are also included. The hardware construction, including position sensing, feedback controller, and current driver in analog circuits are implemented and tested. The finite element method is used to simulate the magnetic force and magnetic field of more complex structure of coil former and core. Since the magnetic levitation system is an unstable and nonlinear system, this system must be linearilize around the operating point, linear control method was applied to stabilized its operation. Phase-lead compensation method was employed to the design of the controller.

中文摘要 Ⅰ
英文摘要 Ⅱ
致謝 Ⅲ
目錄 Ⅳ
表目錄 Ⅵ
圖目錄 Ⅶ
第一章 研究動機 1
1-1 研究背景及目的 1
1-2 傳統內視鏡的源由與原理 2
1-3 膠囊內視鏡與傳統內視鏡的差異 4
1-4 國內外有關之研究情況與重要文獻 7
第二章 磁浮控制系統原理與應用 11
2-1 磁浮系統的種類與介紹 11
2-1-1 吸力型電磁鐵式磁浮系統 11
2-1-2 併用永久磁鐵之吸力型電磁鐵式磁浮系統 14
2-1-3 混合永久磁鐵與電磁鐵的磁浮系統 15
2-2 磁浮系統的物理現象 15
2-3 磁浮系統的結構設計 18
2-3-1 線圈固定座 19
2-3-2 永久磁鐵簡介 19
2-4 根軌跡法(Root Locus) 20
2-4-1 根軌跡法(Root Locus)的基本概念 20
2-4-2 根軌跡的基本特性和繪製規則 22
第三章 磁浮控制系統分析、設計與實驗結果 25
3-1 磁浮系統的數學模式 25
3-2 電磁線圈的製作 29
3-3 感測器電路 30
3-3-1 感測器種類 30
3-3-2 紅外線感測器 31
3-3-3 感測器電路設計 32
3-3-4 感測器輸出響應 33
3-4 驅動器電路 34
3-5 控制器電路 35
3-6 系統的實驗與結果 39
3-6-1 磁浮控制系統電磁線圈產生之波形 39
3-6-2 驗證磁浮控制系統受擾動時波形變化 40
3-6-3 不同的相位領先控制器的模擬響應 43
第四章 電磁線圈有限元素法模擬 46
4-1 有限元素分析法 46
4-1-1 簡介 46
4-1-2 基本概念 46
4-1-3 有限元素法的分析過程 47
4-2 FEMLAB 有限元素套裝軟體 48
4-2-1 簡介 48
4-2-2 FEMLAB的特色 49
4-2-3 FEMLAB之解題步驟 49
4-3 FEMLAB軟體設定 51
4-4 磁浮系統之磁通密度量測 57
4-5 模擬結果與分析 58
第五章 結論與未來展望 64
5-1 結論 64
5-2 未來展望 64
參考文獻 66

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