本論文的目的是設計一應用於軸流式泵之單軸磁力軸承。此磁力軸承的結構在徑向利用兩組永久環型磁鐵組在轉子兩端以產生足夠的恢復力，使轉子穩定於氣隙中心。在軸向則利用一環型電磁鐵及控制器使轉子軸向亦穩定，控制器外迴路為PI-D位置控制，內迴路為PI電流控制。除了分析建立控制系統模式與其暫態、穩態性能外，並設計一啟動方法使轉子可以順利由靜止到旋轉。此外本文亦分析轉子徑向震盪模式並計算轉子的徑向共震頻率，以驗證轉速確實會引起徑向共震問題。最後亦設計一無槽式無刷直流馬達並做為軸流式泵的動力來源。上述除了理論分析與模擬結果外，本文亦提供實驗驗證結果。

The purpose of this thesis is on the design of a single-axis controlled magnetic bearing for an axial fluid pump. Two pairs of ring permanent magnet located on both sides of the rotor are used to levitate the rotor in the radial direction such that its motion is contained near the center of the air gap. The rotor’s axial direction is controlled by an electromagnet actuator; the actuator is controlled with an outer PI-D position and an inner PI current regulator. Both the transient and steady-state responses of magnetic bearing are analyzed. A method to unleash the rotor from the stator before the rotor can be rotated is analyzed and designed. A slotless brushless dc motor for rotor rotational motion is also designed. Besides the theoretical analysis and simulations, experimental verifications are also provided in the thesis.

目錄
中文摘要...................................................I
英文摘要..................................................II
目錄.....................................................III
圖目錄.....................................................V
表目錄.....................................................X
符號說明..................................................XI
第一章 緒論................................................1
1.1 研究背景與目的.........................................1
1.2 軸流式循環輔助器之磁力軸承文獻回顧.....................4
1.3 無刷直流馬達文獻回顧..................................11
1.4 論文大綱..............................................15
第二章 旋轉式磁力軸承簡介.................................16
2.1 磁浮力來源與磁浮方式..................................16
2.2 磁力軸承分類介紹......................................20
2.3 應用於流體泵之單軸磁力軸承............................25
第三章 磁浮軸流式泵設計...................................28
3.1 永磁磁鐵組設計........................................29
3.2 電磁鐵設計............................................35
3.3 位移感測器選用與擺設..................................40
3.4 流體通道設計..........................................43
3.5 整體軸流式泵設計......................................45
第四章 控制系統設計.......................................48
4.1 轉子軸向模式分析......................................48
4.2 軸向控制器設計........................................51
4.3 轉子徑向震盪模式分析..................................56
4.4 磁力軸承啟動步驟......................................59
第五章 無刷直流馬達設計...................................63
5.1 無刷直流馬達基本結構..................................63
5.2 馬達設計..............................................63
5.3 馬達驅動..............................................71
5.4 馬達靜態與動態計算....................................74
第六章 實驗結果...........................................78
6.1 實驗系統介紹..........................................78
6.2 無刷直流馬達實驗結果..................................84
6.3 磁力軸承實驗結果......................................87
6.4 磁力軸承旋轉實驗結果..................................96
6.5 磁力軸承流體實驗結果..................................99
第七章 結論與未來展望....................................102
7.1 結論.................................................102
7.2 未來工作.............................................103
附錄一 模擬與實驗使用之磁力軸承參數......................104
附錄二 實驗系統照片......................................105
參考文獻.................................................106

圖目錄
圖1.1	Jarvik2000循環輔助器示意圖.......................5
圖1.2	HeartMate II循環輔助器示意圖.....................5
圖1.3	Micromed Debakey循環輔助器示意圖.................5
圖1.4	Bramm循環輔助器示意圖............................7
圖1.5	Jarvik循環輔助器示意圖...........................7
圖1.6	Fremerey循環輔助器示意圖.........................8
圖1.7	Antaki循環輔助器示意圖...........................9
圖1.8	Antaki電磁鐵之磁路示意...........................9
圖1.9	Goldwsky循環輔助器示意圖........................10
圖1.10	典型的無刷直流馬達結構圖(1/4)...................12
圖1.11	Faulhaber設計之馬達結構圖.......................13
圖1.12	Ikegami設計之定子結構圖.........................13
圖1.13	Yazaki設計之馬達結構圖..........................14
圖2.1	直流電磁鐵與導磁材料，吸引力型..................17
圖2.2	直流電磁鐵、導磁材料與永磁磁鐵併用，吸引力型....18
圖2.3	直流電磁鐵、導磁材料與永磁磁鐵併用，互斥力型....19
圖2.4	交流電磁鐵與金屬導體，互斥力型..................19
圖2.5	主動式推力軸承示意圖............................20
圖2.6	被動式推力軸承示意圖............................21
圖2.7	主動式徑向軸承示意圖............................21
圖2.8	被動式徑向軸承示意圖............................22
圖2.9	剛體轉子幾何示意圖..............................23
圖2.10	兩個PRB加一個ATB之單軸磁力軸承..................23
圖2.11	兩個PRB加兩個ATB之單軸磁力軸承..................24
圖2.12	應用磁力軸承之離心式壓縮機示意圖................26
圖2.13	應用單軸磁力軸承之軸流式泵示意圖................26
圖3.1	整體軸流式泵結構圖..............................28
圖3.2	兩環型磁鐵關係圖................................30
圖3.3	軸向位移對軸向力關係圖..........................30
圖3.4	兩環型磁鐵間軸向位移示意圖......................30
圖3.5	不同的轉子外緣半徑，軸向位移對軸向力關係圖......31
圖3.6	不同的轉子外緣半徑，軸向位移對徑向力關係圖......31
圖3.7	軸向剛性與徑向剛性關係圖........................32
圖3.8	兩環型磁鐵傾斜關係圖............................33
圖3.9	轉子磁鐵傾斜時，軸向力與徑向力示意圖............34
圖3.10	不同軸向位移，傾斜角與恢復力矩關係圖............34
圖3.11	永磁磁鐵組的軸向長度為多段式結構................34
圖3.12	環型電磁鐵示意圖................................36
圖3.13	氣隙與環型電磁鐵軸向吸引力關係圖................36
圖3.14	電磁鐵斜面角度示意圖............................37
圖3.15	不同斜面角度的電磁鐵，徑向位移與徑向力關係圖....38
圖3.16	電磁鐵之轉子傾斜示意圖..........................38
圖3.17	傾斜角與傾斜力矩關係圖..........................39
圖3.18	電感式位移感測器原理............................40
圖3.19	電容式位移感測器原理............................41
圖3.20	光學式位移感測器原理............................41
圖3.21	霍爾效應式位移感測器原理........................42
圖3.22	霍爾感測器軸向配置示意圖........................42
圖3.23	螺旋葉片結構圖..................................44
圖3.24	整體軸流式泵設計圖..............................46
圖3.25	霍爾感測器徑向配置示意圖........................47
圖4.1	轉子受力圖......................................49
圖4.2	線性化後之電磁鐵軸向系統方塊圖..................51
圖4.3	PI型電流控制方塊圖..............................52
圖4.4	線性化軸向系統加上PI電流控制之方塊圖............52
圖4.5	整體的轉子軸向閉迴路控制方塊圖..................53
圖4.6	簡化的轉子軸向閉迴路控制方塊圖..................54
圖4.7	阻尼Ba對軸向控制器之影響........................55
圖4.8	轉子徑向震盪示意圖..............................56
圖4.9	轉子加減速時特性根位置變化圖....................58
圖4.10	阻尼Bmr對徑向震盪之影響.........................58
圖4.11	轉子未啟動前機構示意圖..........................59
圖4.12	磁力軸承啟動過程的訊號示意圖....................60
圖4.13	磁力軸承之啟動流程圖............................62
圖5.1	無刷直流馬達結構圖(1/4).........................64
圖5.2	無槽式無刷直流馬達結構圖........................66
圖5.3	馬達定子線圈與磁通鏈示意圖......................66
圖5.4	無刷直流馬達設計流程圖..........................68
圖5.5	馬達尺寸示意圖..................................70
圖5.6	無刷直流馬達理想驅動示意圖......................72
圖5.7	理想換相訊號示意圖..............................73
圖5.8	線圈設計與霍爾元件擺放示意圖....................74
圖5.9	磁力軸承與馬達連接示意圖........................75
圖5.10	馬達氣隙磁通密度................................75
圖5.11	無刷直流馬達FEA動態分析，8000rpm................77
圖6.1	硬體控制架構圖..................................79
圖6.2	電磁鐵驅動電路圖................................79
圖6.3	磁力軸承之電流與位置回授電路圖..................80
圖6.4	系統控制架構圖..................................81
圖6.5	磁力軸承之電流與位置控制迴路流程圖..............82
圖6.6	工作點之電磁鐵電流響應圖........................83
圖6.7	單相反電動勢實驗圖，1800rpm.....................84
圖6.8	馬達負載測試示意圖..............................85
圖6.9	無刷直流馬達A相線圈實驗圖，6000rpm..............86
圖6.10	磁力軸承啟動實驗圖..............................88
圖6.11	電流步階響應圖..................................89
圖6.12	電流弦波響應圖，400Hz...........................90
圖6.13	電流弦波響應圖，550Hz...........................90
圖6.14	P-D位置控制之步階響應圖，Dz*=0.02mm.............92
圖6.15	PI-D位置控制之步階響應圖，Dz*=0.02mm............93
圖6.16	PI-D位置控制加上e0前饋之步階響應圖，Dz*=0.02mm..94
圖6.17	PI-D位置控制加上e0前饋之步階響應圖，Dz*=0.1mm...95
圖6.18	不同轉速對軸向位置的影響，空氣中................97
圖6.19	不同轉速對徑向位置的影響，空氣中................98
圖6.20	不同轉速對軸向位置的影響，水中.................100
圖6.21	不同轉速下，軸流式泵產生的揚程.................101

表目錄
表2.1	磁浮力來源......................................16
表2.2	單軸磁力軸承設計實例比較........................25
表3.1	整體軸流式泵之規格表............................46
表5.1	軸流式泵基本需求表..............................64
表5.2	無刷直流馬達主要尺寸規格表......................69
表5.3	無刷直流馬達次要尺寸規格表......................69
表6.1	無刷直流馬達驅動器速度控制範圍..................80

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