臺灣博碩士論文加值系統

主動式磁浮軸承有諸多的優點，故漸漸的被大家所重視。然而，主動式磁浮軸承在設計上必須設計閉迴路控制器，才能將轉子控制於軸承中心，因此必須透過回授訊號才能達成，此訊號通常經由位置感測器測量得到。要知道磁浮軸承的轉子位置必須利用位置感測器，但是位置感測器通常都不便宜，若是要求感測器的解析度愈好，則價格就愈昂貴。因此，本研究主要是探討如何在不經由位置感測器的情況下對磁浮軸承做控制。此研究是在電壓控制模式下，以平滑電壓控制器控制磁浮軸承，其中控制器之回授訊號乃經由磁浮軸承磁極線圈輸出電流估測得到，也就是設計磁浮軸承的觀測器。此研究主要是設計三極磁浮系統的觀測器，而三極磁浮軸承的數學模型為非線性系統，故所設計之觀測器為非線性觀測器。藉由非線性觀測器所估測之系統狀態，再回授至平滑電壓控制器來對三極磁浮軸承做控制，即稱為無感測控制。

Active magnetic bearing(AMB) has many advantage, so paying attention to by everybody gradually. In order to control the rotor in the bearing center, we must design the closed-loop controller by feedback signal. The signal is usually measured by position sensor. In order to know the rotor position, we must use position sensor, but the more resolution we want, the more expensive the price is. The paper is to control the AMB system without position sensors. This paper is using smooth voltage controller to control magnetic bearing under voltage-controlled mode. We will estimate the rotor position by output currents of AMB system. The 3-pole AMB system is nonlinear and hence a nonlinear observer is required. We control the active magnetic bearing by smooth voltage controller which feedback signal estimated by nonlinear observer .This will form the sensorless control.

第一章 緒論
第二章 文獻回顧
第三章 三極磁浮軸承在電壓控制模式下之數學模型
3.1 電壓控制模式下之系統描述與數學模型
3.2 無因次化處理
第四章 平滑電壓控制器
4.1 控制器設計
4.2 穩定性分析
4.3 控制器運作模擬
第五章 無感測控制
5.1 可觀測性分析
5.2 設計非線性觀測器
5.3 之逆矩陣運算
5.4 無感測控制模擬
第六章 實驗驗證 53
6.1 實驗硬體架構
6.2 平滑電壓控制器實驗驗證
6.3 無感測控制實驗驗證
6.4 討論
第七章 結論與未來工作
附錄A
附錄B
參考文獻

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