本文內容描述單軸控制磁力軸承方法應用於軸向流血液泵浦。永磁懸浮系統於徑向之平衡以兩組被動式磁力軸承實現之，而軸向則使用一組電磁鐵驅動方式做主動式控制。文中提出四種軸向位置量測方法，並透過有限元素的分析與實驗，比較其量測誤差。泵浦轉子為一內部葉片結構，由無刷直流馬達帶動推進流體。在建立泵浦機構後並分別以空氣與水做測試，實驗結果証明了泵浦能成功的運作，並且轉子能穩定地懸浮在氣體氣隙。

This paper presented a prototype axial blood pump with a single-axis controlled magnetic bearing. The magnetic suspension system is realized by using passive magnetic bearings for radial direction balancing, and an electromagnetic actuator to stabilize the axial direction actively. Four methods for measuring axial position of the rotor are presented. Their measurement errors are analyzed with finite element analysis and verified experimentally. The rotor has an inner impeller structure to accommodate fluid flow, and it is driven by a brushless DC motor. A prototype pump was built and tested both in air and in water. The experimental results demonstrated successful pump operations. The rotor can be stably levitated in the air gap.

目  錄

中文摘要............................................................................................................. I
英文摘要............................................................................................................ II
目  錄	III
圖目錄	V
符號說明	X
第一章  緒論	1
1.1 研究背景	1
1.2 文獻回顧	2
1.2.1 外部馬達驅動系統	3
1.2.2 馬達直接驅動系統	5
1.2.3 無軸承系統	10
1.3 研究目標	12
1.4 論文大綱	12
第二章  軸流式泵浦原型介紹	13
2.1 泵浦機構	14
2.2 磁力軸承	16
2.3 電磁鐵	19
2.4 無刷直流馬達	21
2.5 感測元件	22
第三章  轉子軸向位置量測改善	24
3.1 單一感測元件分析	24
3.2 四個感測元件	28
3.3 訊號處理方法	35
3.3.1 訊號平均法	35
3.3.2 選取相對中間兩訊號均值	39
3.3.3 訊號解耦	41
3.3.4 不等量均值訊號處理	42
3.4 感測用環形磁鐵加導磁環	44
第四章  實驗結果	53
4.1 實驗系統介紹	53
4.2 空氣中實驗結果	54
4.3 水中實驗結果	58
4.4 新泵浦製作	68
4.5 新泵浦實驗結果	69
4.5.1 電磁鐵控制實驗	69
4.5.2 啟動實驗	71
4.5.3 懸浮實驗結果	71
第五章 結論與未來展望	75
5.1 結論	75
5.2 未來工作	76
附錄一  實驗系統照片	77
附錄二  新製作之泵浦照片	78
參考文獻	79

圖目錄
圖1.1 外部馬達驅動系統............................................................................... 4
圖1.2 外部馬達驅動系統，徑向懸浮磁通................................................... 4
圖1.3 Micromed Debakey 輔助器示意圖...................................................... 6
圖1.4 HeartMate II 輔助器示意圖................................................................. 6
圖1.5 Jarvik 2000 輔助器示意圖................................................................... 6
圖1.6 內部馬達直接驅動系統，軸向懸浮磁通.......................................... 7
圖1.7 內部馬達直接驅動系統，徑向磁通懸浮.......................................... 8
圖1.8 內部馬達直接驅動系統，軸、徑向磁通.......................................... 8
圖1.9 Jarvik 輔助器示意圖，為無軸承式設計............................................ 8
圖1.10 Berlin Heart INCOR 輔助器示意圖................................................... 10
圖1.11 軸向磁通自軸承示意圖..................................................................... 11
圖1.12 徑向磁通自軸承示意圖..................................................................... 11
圖1.13 Levitronix CentriMag 輔助器示意圖................................................. 11
圖2.1 混合磁力軸承機構照......................................................................... 13
圖2.2 機構側視剖面圖................................................................................. 15
圖2.3 泵浦定子尺寸..................................................................................... 15
圖2.4 轉子及轉子上的導磁鐵尺寸............................................................. 15
圖2.5 徑向充磁磁力軸承............................................................................. 16
圖2.6 軸向充磁磁力軸承............................................................................. 18
圖2.7 永磁軸承徑向力分析......................................................................... 18
圖2.8 軸承軸向力分析................................................................................. 18
圖2.9 電磁鐵示意圖..................................................................................... 20
圖2.10 四極電磁鐵示意圖............................................................................. 21
圖2.11 霍爾感測器擺設................................................................................. 23
圖3.1 單軸感測系統示意圖......................................................................... 25
圖3.2 轉子軸向偏移與磁通密度變化......................................................... 26
圖3.3 轉子在不同軸向位置時，徑向偏移與磁通密度的關係................ 26
圖3.4 轉子徑向偏移時，對徑向X、Y 軸的耦合..................................... 27
圖3.5 轉子徑向位置與霍爾元件擺設示意圖............................................. 29
圖3.6 四組感測器所量測得磁通密度變化與軸向位移............................ 31
圖3.7 四組感測器所量測得磁通密度變化與軸向位移............................ 32
圖3.8 靜態量測實驗機構............................................................................. 33
圖3.9 轉子無徑向偏移，四個感測元件量測得訊號................................ 34
圖3.10 徑向偏移x = 1mm，四個感測元件量測得訊號............................. 34
圖3.11 徑向偏移x = 1mm、y = 1mm，四個感測元件量測得訊號........... 34
圖3.12 將四個訊號直接均值後迴授............................................................. 36
圖3.13 轉子工作點側向剖面示意圖............................................................. 37
圖3.14 不同徑向偏移量四個訊號平均所估測轉子軸向位置.................... 38
圖3.15 取相對中間二訊號均值的流程......................................................... 39
圖3.16 徑向偏移R=0.5mm 時，中間兩訊號均值與四個訊號均值做轉子軸
向位置估測....................................................................................................... 40
圖3.17 徑向偏移R=1mm 時，中間兩訊號均值與四個訊號均值做轉子軸向
位置估測........................................................................................................... 41
圖3.18 感測器訊號解耦流程圖..................................................................... 42
圖3.19 不等量訊號處理流程圖..................................................................... 43
圖3.20 不等量均值估測結果......................................................................... 44
圖3.21 環型磁鐵加導磁鐵示意圖................................................................. 45
圖3.22 軸向充磁不均磁鐵設定..................................................................... 45
圖3.23 無加導磁鐵，軸向磁通密度計算..................................................... 46
圖3.24 軸向加導磁鐵，軸向磁通密度計算................................................. 47
圖3.25 無加導磁鐵，徑向磁通密度計算..................................................... 47
圖3.26 軸向加導磁鐵，徑向磁通密度計算................................................. 47
圖3.27 徑向加導磁鐵，徑向磁通密度計算................................................. 48
圖3.28 軸、徑向加導磁鐵，徑向磁通密度計算........................................ 48
圖3.29 徑向偏移y=-1mm，無加導磁鐵，徑向磁通密度計算.................. 49
圖3.30 徑向偏移y=-1mm，徑向加導磁鐵，徑向磁通密度計算.............. 49
圖3.31 徑向偏移y=-1mm，軸向加導磁鐵，徑向磁通密度計算.............. 50
圖3.32 徑個偏移y=-1mm，軸、徑向加導磁鐵，徑向磁通密度計算...... 50
圖3.33 等效磁力示意圖................................................................................. 50
圖3.34 磁極向加導磁材後，等效磁力示意圖............................................. 51
圖3.35 軸向位移1mm 與磁通不均訊號比較.............................................. 52
圖3.36 磁通不均改善靜態量測..................................................................... 52
圖4.1 控制流程方塊圖................................................................................. 53
圖4.2 馬達轉速0rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑向位
置....................................................................................................................... 54
圖4.3 馬達轉速1000rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑
向位置............................................................................................................... 55
圖4.4 馬達轉速2000rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑
向位置............................................................................................................... 55
圖4.5 馬達轉速3000rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑
向位置............................................................................................................... 56
圖4.6 馬達轉速4000rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑
向位置............................................................................................................... 56
圖4.7 馬達轉速5000rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑
向位置............................................................................................................... 57
圖4.8 馬達轉速6000rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑
向位置............................................................................................................... 57
圖4.9 馬達轉速7000rpm，(a)轉子軸向位置，(b)致動器電流，(c)轉子徑
向位置............................................................................................................... 58
圖4.10 泵浦注水實驗，馬達轉速0rpm，z=0.5mm，(a)轉子軸向位置，(b)
致動器電流，(c)轉子徑向位置...................................................................... 59
圖4.11 泵浦注水實驗，馬達轉速0rpm，z=0.69mm，(a)轉子軸向位置，(b)
致動器電流，(c)轉子徑向位置...................................................................... 59
圖4.12 泵浦注水實驗，馬達轉速1000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 60
圖4.13 泵浦注水實驗，馬達轉速1000rpm，z=0.7mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 60
圖4.14 泵浦注水實驗，馬達轉速2000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 61
圖4.15 泵浦注水實驗，馬達轉速2000rpm，z=0.6mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 61
圖4.16 泵浦注水實驗，馬達轉速3000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 62
圖4.17 泵浦注水實驗，馬達轉速3000rpm，z=0.69mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 62
圖4.18 泵浦注水實驗，馬達轉速4000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 63
圖4.19 泵浦注水實驗，馬達轉速4000rpm，z=0.7mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 63
圖4.20 泵浦注水實驗，馬達轉速5000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 64
圖4.21 泵浦注水實驗，馬達轉速5000rpm，z=0.6mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 64
圖4.22 泵浦注水實驗，馬達轉速6000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 65
圖4.23 泵浦注水實驗，馬達轉速6000rpm，z=0.56mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 65
圖4.24 泵浦注水實驗，馬達轉速7000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 66
圖4.25 泵浦注水實驗，馬達轉速7000rpm，z=0.5mm，(a)轉子軸向位置，
(b)致動器電流，(c)轉子徑向位置................................................................. 66
圖4.26 新泵浦機構示意圖............................................................................. 68
圖4.27 電流步階響應圖................................................................................. 69
圖4.28 電流弦波響應圖................................................................................. 70
圖4.29 磁力軸承啟動實驗，(a)轉子軸向位置，(b)電磁鐵電流............... 70
圖4.30 轉子懸浮於工作點時量測結果，(a)轉子軸向位置，(b)致動器電流，
(c)四感測器訊號.............................................................................................. 72
圖4.31 轉子有徑向偏移時四感測器所估測轉子軸向位置........................ 73
圖4.32 等量與不等量均值估測轉子軸向位置比較.................................... 74

參考文獻

[1]	G. Schweitzer, H. Bleuler, and A. Traxler, “Active Magnetic Bearings”, Hochschulverlag AG an der ETH Zurich, 1994.
[2]	JW. Beams , “Magnetic Suspension for Small Rotors”, Rev Sci Inst, 1950, 21：184-4.
[3]	T. Akamatsu, T. Nakazeki, H. Itoh, “Centrifugal blood pump with a magnetically suspended impeller”, Artificial Organs, 1992, 16：305-8.
[4]	K. Sekin, Y. mitamura, S. Murabayashi, I. Nishimura, R. Yozu, and D. W. Kim, “Development of a magnetic fluid shaft seal for an axial flow blood pump”, Artificial Organs, Vol. 27, Oct. 2003, pp. 829-896.
[5]	H. Hoshi, T. Shinshi, and S. Takatani, “Third-generation blood pumps with mechanical noncontact magnetic bearings”, Artificial Organs, Vol. 30, No.5, 2006, pp. 324-338.
[6]	F. J. Antaki, B. Paden, G. Burgreen, N. J. Groom, “Blood pump having a magnetically suspended rotor”, USPTO Patent, NO：6447266 B2, Sep. 2002.
[7]	M. P. Goldowsky, “Magnetic suspension blood pump”, USPTO Patent, NO：6527699 B1, Mar. 2003. 
[8]	C. Huber, P. Tozzi, M. Hurni and L.K. Von Segesser, “No drive line, no seal, no bearing and no wear：magnetics for impeller suspension and flow assessment in a new VAD”, Interactive Cardiovascular and Thoracic surgery 2004, No. 3, pp.336-340.
[9]	R. Jarvik, “Axial force null position magnetic bearing and rotary blood pumps which use them”, USPTO Paten, NO:6227820, May. 2001.
[10]	L.R. Golding, G. Jacobs, T. Murakami, “Chronic nonpulsatile blood flow in an alive, awake animal 34-day survival”, Trans Am Soc Artificial Intern Organs, 1980, 26：251-5.
[11]	A. chiba, T. Fukao, O. Ichikawa, M. Oshima, M. Takemoto, and D. Dorrell, “Magnetic bearings and bearingless drives”, Elsevier’s Science & Technology, 2005.
[12]	A.　Chiba, T. Fukao, O. Lchikawa, M. Oshima, M. Takemoto and D. G. Dorrell, “Magnetic Bearings and Bearingless Drives”, ELSEVIER Newnes, 2005.
[13]	J. Bichsel, “Contributions on Bearingless Electric Motors”, ETH Thesis, No.9303, 1990.
[14]	R. Schob, N. Barletta, “Principle and Application of a Bearingless Slice Motor”, JSME International Journal Series C, 1997, 40: pp. 593-598.
[15]	S. Saito, S. Westaby, D. Piggott, “Reliable long-term non-pulsatile circulatory support without anticoagulation“, European Journal of Cardio-thoracic Surgery, 2001, 19: pp.678-683.
[16]	G. P. Noon, D. L. Morley, S. Irwin, S. V. Abdelsayed, R. J. Benkowski, and B. E. Lynch, “Clinical experience with the MicroMed DeBakey ventricular assist device”, Ann Thorac, Surg., 2001, 71: pp. 133-138.
[17]	D. J. Burke, E. Burke, F. Parsaie, V. Poirier, K. Butler, D. Thomas, L. Taylor, and T. Maher, “The HeartMate II Design and Development of a Fully Sealed Axial Flow Left Ventricular Assist System”, Artificial Organs, Vol. 25, May 2001, pp. 380-385.
[18]	R. Jarvik, “High reliability cardiac assist system”, USPTO Patent, NO:5613935, Mar. 1997.
[19]	R. Jarvik, “Axial force null position magnetic bearing and rotary blood pumps which use them”, Artificial Patent, NO:6227820, May 2001.
[20]	ISRBP 13th, http://www.tmd.ac.jp/i-mde/www/ao/ISRBP2005/.
[21]	J. Mueller, P. Nuesser, H. Graichen, “Three years of experience with the magnetically levitated axial flow pump INCOR”, Artificial Organs, 2006, 30:A13.
[22]	R. Schob, “Centrifugal Pump without Bearings or Seals”, World Pumps, Jul. 2002, pp.34-37.
[23]	林俊呈, ”應用於軸流式泵之無軸承馬達動態模式分析與控制策略改善”, 淡江大學機械工程學系碩士論文, 民國96年1月.
[24]	許智翔, “應用於軸流式亨之單軸磁力軸承設計與控制改善”, 淡江大學機械工程學系碩士論文, 民國94年6月.
[25]	顏銘憲, “單軸主動式控制磁浮軸承設計”, 台灣大學電機工程學研究所碩士論文, 民國92年6月.
[26]	S. Earnshaw, “On nature of molecular force”, Trans. Cambridge Philosophical Society, Vol. 7-Part 1, 1939, pp. 97-112.
[27]	J. Delamare, J.P. Yonnet, E. Rulliere, “A Compact magnetic Suspension With Only One Axis Control”, IEEE Transactions on magnetics, Vol. 30, No. 6, Nov. 1994.
[28]	S. Earnshaw, “On the nature of the molecular forces which regulate the constitution of the luminiferous ether”, Transactions. Camb. Phil. Soc., Vol. 7, Part1, 1839, pp. 97-112.
[29] J. LIU and T. KOSEKI, “3 Degree of Freedom Control of Semi-Zero-Power magnetic Levitation Suitable for Two-Dimensional Linear Motor, IEEE, Vol. 2, Aug. 2001, pp. 976-981.
[30]	R. M. Walser, and A. P. Valanju, “Displacement eddy currents in magnetic laminates”, IEEE Transactions on magnetics, Vol. 28, No. 5, Sep. 1992.
[31]	S. Jeon, H. J. Ahn, D. C. Han, and I. B. Chang, “New design on cylindrical capacitive sensor for on-line precision control of AMB spindle”, IEEE Transactions on Instrumentation and Measurement, Vol. 50, No. 3, Jun. 2001, pp. 757-763.
[32]	洪紹剛, “智慧型磁浮模組之設計與特性研究”, 臺灣大學通械工程學系碩士論文, 民國88年6月.
[33]	T. Ohji, S. C. Mukhopadhyay, M. Iwahara, Member and S. Yamada, “Performance of Repulsive Type Magnetic Bearing System Under Nonuniform Magnetization of Permanent Magnet”, IEEE Transactions on Magnetics, Vol. 36, No. 5, Sep. 2000.