臺灣博碩士論文加值系統

在線性驅動應用上，線性馬達比起旋轉式馬達具有直接驅動、較低磨耗、較高加減速度及構造上擁有較大的自由度等優點。截至目前為止，雖然已有多種線性馬達被開發了，但其設計、驅動及應用等仍不如旋轉馬達完備。因此，有關線性馬達之驅動控制改進之研究值得積極從事。本論文之主要目的即在於設計製作一高性能之線性直流無刷馬達驅動系統。
首先建立一線性直流無刷馬達驅動之一維實驗用工作平台，其中含以霍爾元件與線性編碼器組成之移動子位置信號感測裝置。為得到高性能之位置伺服驅動特性，開發一電流控制電壓源變頻器，以使可動子線圈具低諧波失真之弦波電流。此外，為了使馬達有較佳之電磁推力輸出特性，也研究了變頻器切換換向時刻之調控技巧。在控制器之分析與設計上，馬達之動態模式係不可或缺的，在本論文中，介紹了由推導法及估測法從事線性直流無刷馬達動態模式之建立，並據以開發一雙可調度位置伺服控制器與一強健控制器，以得到良好之馬達驅動位置追隨及調節控制性能。在以模擬驗證所設計控制器之正確性後，從事控制器之實現並以一些實測結果顯示所組線性直流無刷馬達驅動系統之操作性能。

Compared with rotary motors, linear motors possess many advantages in linear motion driving applications, such as direct driving, low frictional loss, high position control accuracy, high speed, high acceleration and deceleration capability, maintenance free and large structural flexibility,*, etc. Till now, although a lot of types of linear motors have been developed, their designs, driving controls and applications are still not as mature as those for rotary motors. The major purpose of this thesis is to design and implement a linear brushless DC motor (LBDCM) drive.
An experimental LBDCM driven one-dimensional table is established, wherein the Hall-effect sensors and linear encoder are employed to obtain the information of moving member position. For obtaining excellent position servo driving performance, a current-controlled voltage source inverter (VSI) with lowly-distorted sinusoidal output current is developed, the commutation instant tuning of inverter to yield better force generating capability of a LBDCM is also studied. It is known that the dynamic model is indispensable for performing the controller analysis and design. In this thesis, the dynamic modeling of a LBDCM drive based on physical derivation and estimation are described. Then accordingly, a two-degree-of-freedom controller (2DOFC) and a robust controller (RC) are proposed to yield good position tracking and regulation performances. After confirming the validity of the designed controllers by some simulations, the realization of controllers is made and the driving performances of the whole linear motor drive are demonstrated by some measured results.

誌謝 I
摘要
目錄
第一章、簡介
第二章、線性直流無刷馬達驅動系統
第三章、線性直流無刷馬達驅動系統之實作
第四章、雙可調度位置控制器之設計與實作
第五章、強健雙可調度位置控制器之設計與實作
第六章、結論
附錄：英文本論文

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