臺灣博碩士論文加值系統

傳統無人搬運車的傳動系統包含旋轉馬達、齒輪、齒條、皮帶、滾珠螺桿等機械裝置，因傳動元件間彼此的摩擦，造成傳輸效率低，精密度會受到一定程度之限制，而且傳統傳動系統因零組件較多，空間需求較大，針對這些問題，本論文乃設計一球型感應馬達，使具有容易控制加減速、維護成本較低、定位容易、體積較小等優點。為評估該球型感應馬達之可行性，本論文利用AutoCAD建立三相球型感應馬達的2D幾何分析模型，轉子厚度為2 mm、軛鐵厚度為4 mm，並以鋁、銅、不鏽鋼三種不同材質的球型感應馬達轉子，利用有限元素分析軟體COMSOL AC/DC電磁模組進行馬達性能模擬分析。由模擬結果得知所設計之三相球型感應馬達在額定電流為3.4 A時，轉子材質為鋁，具有扭力3.5 N∙m之優異表現，可以取代傳統無人搬運車的傳動系統。

The traditional transmission systems of unmanned vehicles involve mechanical devices, such as motors, gears, racks, belts, ball screws, and so forth. The low efficiency and the limited precision are mostly due to the friction between the transmission elements, the large number of components and big dimensions. We propose a spherical induction motor as a solution candidate. The main advantages of this design are easy control of acceleration-deceleration-positioning, low maintenance cost, and small in size. The feasibility study of the three-phase spherical induction motor includes 2D geometric model design with AutoCAD and finite element analysis with COMSOL AC/DC Module for motor performance. The thicknesses of the rotor and the yoke are set to 2 mm and 4 mm, respectively. Three spherical rotors with material of aluminum, copper and stainless steel are used in the simulation. The results show that the three-phase spherical induction motor with an aluminum spherical rotor under a rated current (3.4 A) can yield the best torque (3.5 N∙m). We conclude that the proposed three-phase spherical induction motor could be used to replace the current motors on the field of the transmission system of the traditional unmanned vehicle.

目錄
摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 IX
第一章　緒論 1
1-1　研究背景與動機 1
1-2　文獻回顧 2
1-3　研究目標與研究方法 2
1-4　論文大綱 3
第二章　三相球型感應馬達設計 4
2-1　前言 4
2-2　三相球型感應馬達元件及設計軟體 5
2-2-1 AutoCAD繪圖軟體 6
2-2-2 SolidWorks繪圖軟體 8
2-2-3 定子及轉子 9
2-2-4 底座 12
2-3　三相球型感應馬達尺寸訂定 13
2-4　三相球型感應馬達電氣規格訂定 15
2-5　本章結論 16
第三章　三相球型感應馬達理論解析 17
3-1　前言 17
3-2　三相球型感應馬達電路參數量測 18
3-2-1 三相球型感應馬達繞組電阻測量 18
3-2-2 三相球型感應馬達之無載試驗 19
3-2-3 三相球型感應馬達之堵轉試驗 21
3-3　三相球型感應馬達之電路分析與等效電路 23
3-4 三相球型感應馬達之原理 25
3-5　三相球型感應馬達之性能分析 27
3-6 三相球型感應馬達之轉矩 30
3-7 三相球型感應馬達之效率 36
3-8　本章結論 37
第四章　三相球型感應馬達之有限元素分析與模擬 38
4-1　前言 38
4-2　三相球型感應馬達之分析模型 39
4-3　三相球型感應馬達之設計參數 40
4-4　三相球型感應馬達性能分析與模擬 41
4-5　本章結論 46
第五章　結論與未來研究方向 47
5-1　結論 47
5-2　未來研究方向 48
參考文獻 49

 
圖目錄
圖2-1 2D球型感應馬達模擬模型 5
圖2-2 3D球型感應馬達模型 6
圖2-3 AutoCAD繪圖軟體編輯畫面 7
圖2-4 SolidWorks繪圖軟體編輯畫面 8
圖2-5 定子結構2D圖形 10
圖2-6 定子結構3D圖形 11
圖2-7 轉子結構剖面圖 11
圖2-8 轉子結構3D圖形 12
圖2-9 底座結構圖 12
圖2-10 三相球型感應馬達矽鋼片結構圖 14
圖3-1 繞組之電阻量測〔2〕 18
圖3-2 三相球型感應馬達之無載試驗及堵轉試驗接線圖〔2〕 19
圖3-3 三相球型感應馬達無載時之每相等效電路〔2〕 20
圖3-4 三相球型感應馬達堵轉時之每相等效電路〔2〕 21
圖3-5 三相球型感應馬達各項變數計算流程圖 26
圖3-6 三相球型感應馬達的功率轉換流程圖〔2〕 27
圖3-7 三相球型感應馬達每相等效電路（轉換至定子側）〔2〕 27
圖3-8 三相球型感應馬達之近似等效電路〔2〕 30
圖3-9 三相球型感應馬達之轉矩T-轉差率S特性曲線〔2〕 31
圖3-10 三相球型感應馬達之近似等效電路〔2〕 33
圖3-11 轉矩T、內生機械功率Pm -轉差率S 特性曲線〔2〕 34
圖4-1 模擬軟體的操作介面與設定 39
圖4-2 模擬軟體的參數設定畫面 40
圖4-3 球型感應馬達之三相電流 41
圖4-4 球型感應馬達之磁力線分布圖 42
圖4-5 鋁製轉子氣隙為1~5 mm的轉矩特性曲線比較圖 42
圖4-6 銅製轉子氣隙為1~5 mm的轉矩特性曲線比較圖 43
圖4-7 鋼製轉子氣隙為1~5 mm的轉矩特性曲線比較圖 44
圖4-8 氣隙為1 mm之三種材質轉矩特性曲線 45

 
表目錄
表2-1 三相球型感應馬達機械規格 14
表2-2 三相球型感應馬達電氣規格 15

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