中文提要：
本論文旨在針對本系線性電機實驗室所自行研發之橫向磁場式開關磁阻型線性電動機做其二維空間運動控制。首先應用數學分析理論建立系統之操作數學模型，依此數學模型設計並製作相關之週邊電路與控制單元，更利用視窗應用軟體建構出一套可直接由電腦螢幕作為輸出入界面之簡易人機界面。本論文於控制推進速度方面，採用模糊控制理論為控制之方法，以克服其因摩擦係數變動所帶來的影響而求能夠成功地控制系統之操作速度。至於控制懸浮力方面，本論文採用類似一般傳統電機座標軸轉換之理論與分析，配合模糊控制器順利地控制所需之系統磁交鏈與電流變數，進一步間接地控制系統的懸浮力並使系統以穩定速度運行於軌道上。

英文提要：
The objective of this thesis is to simultaneously achieve two- dimensional control of transverse flux linear switched-reluctance machine (LSRM). Based on a theoretical matrix decomposition scheme, the overall structure of the control and drive systems can be constructed, and the associated man/machine interface can be designed. A fuzzy inference scheme has been selected to control the machine motion, while an orthogonal scheme has been developed to control the machine lift force. By realizing the control algorithm through digital signal processor (DSP), results show that the LSRM will be quite applicable for the desired operations of magnetic levitated vehicle.

中文摘要 IV
英文摘要 V
目錄 VI
圖形目錄 VIII
表格目錄 XII

第一章 緒論 1
1.1 前言 1
1.2 研究背景與動機 3
1.3 研究重點與目標 8

第二章 系統模型與狀態方程式之建立 10
2.1 系統電感函數之建立 10
2.2 系統數學模型之建立 13
2.3 建立推進力與懸浮力之數學模型 15

第三章 實驗架構與週邊電路 20
3.1 系統架構 20
3.2 控制器與人機界面 22
3.3 週邊電路 25
(a) 磁極開關電路 26
(b) I/O信號顯示介面電路 27
(c) 電流感測電路 28
(d) 位置感測與顯示電路 29

第四章 速度控制 31
4.1 無控制情況下之自動觸發狀態 31
(a) 無重疊觸發下之系統操作狀態 32
(b) 0.6cm與1.2cm重疊觸發下之系
統操作狀態 36
4.2 模糊控制理論之設計 41
4.3 Fuzzy速度控制 44
(a) 無重疊觸發下之Fuzzy速度控制 44
(b) 0.6cm重疊觸發下之Fuzzy速度控制 51

第五章 懸浮力控制 55
5.1 懸浮力系統 55
5.2 qd0座標軸轉換之理論推導 59
5.3 懸浮力控制 64

第六章 討論與結論 73

參考文獻 77

參考文獻

[1] 黃忠良編撰，磁力懸浮系統工程與磁力軸承技術，復漢出版社，1997.

[2] S. Ohashi, “Effect of the Damper Coils on the Rotational Motion of the Superconducting Magnetically Levitated Bogie,” Intermag. 2000, Toronto, Canada, April 9-13, 2000.

[3] C.T. Liu, K.S. Su, and L.H. Lee, “Three-dimensional Field and Side-Force Design Analysis of A Transverse Flux Linear Switched-Reluctance Machine,” GU-01, the 7th Joint MMM-Intermag Conference, San Francisco, CA, U.S.A., January, 1998.

[4] C.T. Liu, L.F. Chen, J.L. Kuo, Y.N. Chen, Y.j. Lee, and C.T. Leu, “Microcomputer Control Implementation of Transverse Flux Linear Switched-Reluctance Machine with Rule-Based Compensator,” IEEE Trans, On Energy Conversion, Vol. 11, No. 1, March 1996, pp. 70-75.

[5] C.T. Liu, Y.N. Chen, M.H. Lee, and Y.J. Lee, “Operational Charact-eristics of A Zero-Torque Linear Switched-Reluctance Machine for Magnetic Levitation and Propulsion System,” IEEE Internation Magnetics Conference, Paper No. BR-08, New Orleans, Louisiana, April 1-4, 1997.

[6] N. Sheu, Optimal Pole Arrangement Design of a Linear Switched-Reluctance Machine for Magnetic Levitation and Propulsion System, Master Thesis, National Sun Yat-Sen University, May 1996, pp. 13-38.

[7] S.D. Conte and C. de Boor, Elementary Numerical Analysis, McGraw-Hill Book Company, New York, 1980.

[8] M.V.K. Chari, Finite Elements in Electrical and Magnetic Field Problems, John Wiley & Sons, Ltd., 1980.



[9] G.E. Dawson, A.R. Eastham, and J. Mizia, “Switched Reluctance Motor Torque Characteristics: Finite Element Analysis and Test Results,” IEEE Trans. On Industrial Applications, Vol. 23, No. 3, May/June 1987, pp. 532-537.

[10] M.H. Lee, DSP-Based Motion Control of Transverse Flux Linear Switched-Reluctance Machine, Master Thesis, National Sun Yat-Sen University, May 1998, pp. 11-13.

[11] The User’s Manual and Reference Set of Chico, Innovative Integration, 1999.

[12] 李勁與鄭浩編著，精通C++ Builder 4.0，文魁資訊股份有限公司，1999.

[13] 蔡朝洋編著，電子電路實作技術，全華科技圖書股份有限公司，1997.

[14] Y.N. Chen, Assessments of Transverse Flux Linear Switched-Reluctance Machine Design, Master Thesis, National Sun Yat-Sen University, May 1997, pp. 35-40.

[15] L.A. Zadeh,”Fuzzy sets,” Inform. Contr., Vol. 8, 1965, pp. 338-353.

[16] E.H. Mamdani and B.R. Gaines, Fuzzy Reasoning and its Applications, Academic Press, 1981.

[17] T.J. Ross, Fuzzy Logic with Engineering Applications, McGraw-Hill, Inc., 1997.

[18] Paul C. Krause, Analysis of Electric Machinery, McGraw-Hill, Inc., New York, 1987.

[19] K. Bose, Power Electronics and AC Motor Drives, Prentice-Hall, Inc., Englewood Cliffa, New Jersey, 1986.

[20] C.M. Ong, Dynamic Simulation of Electric Machinery Using Matlab/Simulink, Prentice-Hall, Inc., Upper Saddle River, New Jersey, 1999.