本文提出一徑向力控制法則應用於表面轉子型永磁同步自軸承電動機。此控制策略建立於自軸承馬達上，其具有一組主要繞組以及一組虛擬懸浮繞組。主繞組產生轉矩，懸浮繞組產生徑向的轉子懸浮力。計算這些電流並經過控制器將其結合，因此，馬達內只有一組線圈其可以同時產生需要的徑向力與轉矩。改善的徑向力模式考慮了磁鐵經位移產生的不平衡拉力，經過有限元素法與實驗的驗證其性能。

This paper presents a radial force control scheme for self-bearing operation of a surface permanent magnet synchronous motor. The scheme is based on a self-bearing motor which consists of a set of main and a set of fictitious suspension windings. The main winding produces rotational torque, and the suspension winding produces radial force for rotor levitation. The calculated currents for these windings are combined internally in the controller. Consequently, only a set of windings is needed to produce the controllable radial force and rotational torque in the motor. An improved force model which considered the un-balanced pull force produced by the permanent magnets is also presented. Both finite element analysis and experiment verifications are performed.

中文摘要 I
英文摘要 II
誌 謝 III
目 錄 IV
圖 目 錄 VI
表 目 錄 VIII
符號說明 IX
第一章 緒論 1
1.1 研究背景與目的 1
1.2 論文目的 2
1.3 文獻回顧 3
1.4 論文大綱 6
第二章 永磁同步自軸承馬達模式與控制 7
2.1 永磁同步自軸承馬達轉矩模式 8
2.2 徑向力生成原理 13
2.3 複合線圈型永磁同步自軸承馬達徑向力模式 15
2.4 複合線圈型永磁同步自軸承馬達徑向力控制 25
2.5 單一線圈型永磁同步自軸承馬達徑向力控制 26
第三章 馬達設計與製作 30
3.1 馬達基本設計 31
3.2 改善頓轉矩方法 33
3.3 磁路設計 35
3.4 電氣設計 42
3.5 馬達設計修正 50
第四章 有限元素分析 52
4.1 頓轉矩分析 52
4.2 無轉矩電流徑向力分析 53
4.3 具轉矩電流徑向力分析 54
第五章 實驗結果 57
5.1 實驗機構 57
5.2 馬達製作 60
5.3 力量感測器 64
5.4 控制程式 66
第六章 結論與未來研究方向 68
6.1 結論 68
6.2 未來研究方向 68
參考文獻 69

圖 目 錄
圖1.1 磁力軸承工具機主軸馬達及其內部結構圖 1
圖1.2 自軸承馬達示意圖 2
圖2.1 複合線圈與單一線圈型自軸承PMSM，(a) 複合線圈型，(b) 單一線圈型 7
圖2.2 永磁同步馬達等效電路圖 8
圖2.3 d-q 軸與定子軸關係圖 11
圖2.4 固定軸與轉子軸幾何關係圖 12
圖2.5 兩相四極PMSM 的徑向力產生示意圖 13
圖2.7 三相4 極6 槽複合線圈型自軸承PMSM 結構圖，(a)三相，(b)兩相 15
圖2.8 不平衡拉力示意圖(a)激磁電流產生磁力(b)相同激磁電流因位移產生不平衡拉力 16
圖2.10 磁位能與等效磁路(a)磁路分析(b)等效磁路 18
圖2.11 懸浮電感與位移關係 21
圖2.12 複合線圈型自軸承PMSM 控制系統方塊圖 26
圖2.13 單一線圈型PMSM 自軸承控制系統方塊圖 29
圖3.1 設計流程圖 30
圖3.3 磁鐵之工作點 36
圖3.4 等效磁路圖 38
圖3.5 馬達定子尺寸符號 40
圖3.6 50CS1300 之BH 曲線 41
圖3.7 PMSM 繞組分佈圖 42
圖3.8 槽形示意圖 45
圖3.9 激磁方式示意圖 46
圖3.10 單一線圈平均繞線長度示意圖 47
圖3.11 馬達損失示意圖 47
圖3.12 永磁同步馬達設計尺寸圖 49
圖4.1 轉子頓轉矩模擬結果(a)無斜列(b)有斜列 52
圖4.2 固定轉子角度 ，無轉矩電流時徑向力模擬結果(a)電流分布(b)力量圓分布 53
圖4.3 固定轉子角度 ，無轉矩電流時徑向力0.1mm模擬結果(a)電流分布(b)力量圓分布 54
圖4.4 固定轉子角度 且有轉矩電流之徑向力模擬結果，(a)複合線圈型，(b)單一線圈型 55
圖4.5 轉子機械角與徑向力角度同步且有轉矩電流下徑向力模擬結果(a)複合線圈型，(b)單一線圈型 56
圖5.1 系統實驗架構圖 57
圖5.2 雙極式後級電壓轉換器 58
圖5.3 雙極式後級電壓轉換器切換模式 59
圖5.4 雙極式後級電壓轉換器切換模式下之電流示意圖 59
圖5.5 自軸承PMSM 尺寸圖 60
圖5.6 定子照片(a)定子與繞組,(b)定子含鋁殼 61
圖5.7 轉子照片 63
圖5.8 自軸承系統機構照片 64
圖5.9 量測機構受力示意圖 65
圖5.10 具滑軌之量測機構受力示意圖 65
圖5.11 力量感測機構照片 66
圖5.12 控制程式流程圖 67
 
表 目 錄
表1.1 自軸承馬達規格 2
表3.1 各類磁鐵比較表 32
表3.2 永磁同步馬達規格與主要尺寸 33
表3.3 馬達定子細部尺寸參數表 41
表3.4 銅線型式 44
表3.5 永磁同步馬達設計模擬結果 49
表4.1 自軸承馬達控制參數表 52
表5.1 凡立水性質表 61
表5.2 杜邦絕緣紙性質表 62
表5.3 電子零件灌注膠性質表 62
表5.4 金屬黏膠 63

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