針對鋼鐵廠中鋼板搬運設備未來發展之可能需求，本論文中提出一種以線性感應電動機為基礎之無接觸式鋼板搬運系統。此系統僅利用單一組定子激磁電源即可同時提供鋼板所需之懸浮力與推進力，因此不但能提供高功率密度、直接傳動與機械結構簡單之特性，更可大幅減少鋼板搬運過程所產生的噪音。本研究首先應用磁路與電磁理論配合三維有限元素法，進行機構尺寸與電氣規範之設計與驗證，同時模擬與評估系統之靜態與類動態運轉特性。接著運用旋轉座標軸轉換理論，成功\地推導出系統電壓與作用力方程式，以完整掌握電動機之動態特性。依動態特性之分析結果並考量實際運作之環境限制，本研究更規劃設計出一套以模糊理論為控制核心之整合式控制架構，並利用數位訊號處理器配合硬體週邊電路，準確量測電流與由光學影像處理技術所得之線上氣隙回授訊號，實現電動機閉迴路驅控的目標。經過系統化之分析流程與實際驅控的測試結果，不僅證實所提出之系統符合設計需求，更提供電動機設計、分析與驅動各方面通盤的資訊，可做為未來系統實際發展與應用上的重要參考。

A non-contacting steel plate conveyance system based on the linear induction motor scheme, which can provide lift and propulsive forces simultaneously, is proposed. It has the features of high power density, direct drive, simple mechanical structure, and being able to reduce the operation noise. A magnetic equivalent circuit method and electromagnetic theory incorporating with 3-D finite element analysis are involved to investigate the static and quasi-dynamic properties and confirm the electrical and mechanical designs. To realize the dynamic behavior and develop the closed-loop control, a proper stationary reference frame transformation of the system voltage equations is also introduced. By considering the practical operational environment, a fuzzy-based control structure integrated with remote optical measurement system has been established and implemented by a DSP-based controller combined with required peripheral circuits. The experimental results show the applicability of such control strategies. With the systematic procedures for design, analysis, and control provided in this dissertation, implementation feasibility of the proposed system can be conveniently demonstrated.

中文摘要………………………………………………………………….. I
英文摘要………………………………………………………………….. II
目錄……………………………………………………………………….. III
圖目錄…………………………………………………………………….. V
表目錄…………………………………………………………………….. VII
名稱縮寫索引…………………………………………………………….. VIII

第一章 緒論…………………………………………………………….. 1
1-1 前言……………………………………………………… 1
1-2 鋼鐵廠內特殊電磁設備之簡介…….…………………… 3
1-3 研究背景與動機………………………………………… 6
1-4 研究目標與重點………………………………………… 8

第二章 整合光學量測技術之無接觸式鋼板搬運系統………………... 11
2-1 電動機之機械結構與電氣規格………………………… 11
2-2 氣隙量測技術評估與選擇……………………………… 14
2-3 整合式系統驅控架構之構想.…………………………… 18

第三章 電動機架構之靜態特性分析………….………………………... 21
3-1 適應型等效磁路法與系統之靜態特性估算…………… 21
3-2 應用三維有限元素法於AMEC法之驗證……………… 26
3-3 電動機之靜態特性分析與實際應用之可行性評估…… 30

第四章 電動機架構之電磁數學模型建立……………………………... 34
4-1 電磁數學模型之定義與假設…………………………… 34
4-2 電磁數學模型之推導…………………………………… 36
4-2-1 系統統御方程式…………………………………. 36
4-2-2 向量磁位之表達式………………………………. 38
4-2-3 以邊界條件求解…………………………………. 40
4-2-4 重要電磁特性之推導……………………………. 44
4-3 電磁數學模型之驗證與修正…………………………… 45

第五章 定子正交參考軸系統模型與分析……...………………………. 53
5-1 座標轉換理論與座標軸定義…………………………… 53
5-1-1 座標軸轉換理論…………………………………. 53
5-1-2 無接觸式鋼板搬運系統之d-q座標軸定義…..….. 56
5-1-3 定子側固定參考軸之應用………………………. 58
5-2 a-b-c軸電壓方程式與電感矩陣推導…………………... 60
5-2-1 a-b-c軸電壓方程式……………………………… 60
5-2-2 電感矩陣之近似方程式…………………………. 61
5-3 d-q-0軸電壓方程式推導….…………………………….. 68
5-4 d-q-0軸作用力方程式…………………………………... 70
5-5 無感測器之重要參數估測……………………………… 74
5-5-1 等效行進磁場之磁交鏈大小與位置估測………. 74
5-5-2 鋼板移動速度估測…………….…………………. 75

第六章 系統控制策略與整合式驅動架構之設計……………………... 77
6-1 控制策略之設計……………….………………………… 77
6-2 無接觸式鋼板搬運系統之整合式驅控………………… 81
6-2-1 驅控架構與控制策略……………………………. 81
6-2-2 模糊理論簡介……………………………………. 83
6-2-3 非同步控制之控制週期設計……………………. 84
6-2-4 定子磁極電流控制………………………………. 85
6-3 以模糊理論為基礎之氣隙控制器……………………… 86
6-3-1 氣隙控制架構………………….…………………. 86
6-3-2 氣隙控制之模糊控制理論設計…………………. 87
6-4 以模糊理論為基礎之鋼板速度控制器………………… 90
6-4-1 鋼板速度控制架構………………………………. 90
6-4-2 鋼板速度控制之模糊控制理論設計……………. 91

第七章 電動機驅動之軟硬體架構與實測結果………………………... 95
7-1 系統硬體架構…………………………………………… 95
7-1-1 數位訊號處理控制器……………………………. 96
7-1-2 RS-232通訊界面……………..…………………… 98
7-1-3 電流感測元件……………………………………. 99
7-1-4 三相電源PWM開關電路………………………. 100
7-2 系統軟體架構…………………………………………… 102
7-2-1 Simulink之應用……………..……………………. 102
7-2-2 SCI之應用….…………………………………….. 104
7-2-3 Real Time Data Exchange (RTDX) 之應用...……. 104
7-3 系統實測與分析………………………………………… 105
7-3-1 系統開迴路驅動之實驗與分析.............................. 105
7-3-2 閉迴路之氣隙控制實驗與分析………………….. 107
7-3-3 閉迴路之鋼板速度控制實驗與分析…………….. 110
7-3-4 閉迴路之綜合驅控實驗與分析………………….. 113

第八章 結論……………………………………………………………... 118
8-1 討論與結論……………………………………………… 118
8-2 未來研究方向與建議…………………………………… 120

參考文獻………………………………………………………………….. 121
作者簡介與著作…………………………………………………………... 126

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