主動式磁浮線性滑軌設計與控制;Design and Control of Active Maglev Linear Guideway

[[abstract]]現今的工業發展逐漸趨向自動化的控制與大數據的分析，包含了高精度、高速以及高效率的發展內容，磁浮的概念與技術是對於工業4.0的重要推力，這也是本論文中希望能將理論的東西實體化。磁浮的優點在於無磨擦、壽命長、無噪音，而這些優點可以使本論文中的滑軌相較於線性滑軌來的優異許多，或許有一天，磁浮滑軌將會取代現今所使用的線性滑軌。本論文的磁浮滑軌設計是自行設計開發的，設計目的在於能將整個滑軌完全磁浮，所以在控制的部分加入了線圈，線圈在此系統扮演著重要的角色，功能在於能將被動所產生的側向力推回平衡位置上，所以利用了模擬軟體模擬需要設計線圈尺寸。而被動在此系統上也扮演著重要角色，其最重要功能在於提供了乘載力，被動的排列方式也是有重要因素，其排列方式為Halbach array，這是能透過排列方式的不同，進而增強其中一側的磁力，並且削弱另一側的磁力。在本系統中的磁浮滑軌共有五個自由度，而這五個自由度必須考慮到整個系統的耦合現象，要了解系統耦合現象不外乎要選擇適當描述系統動態的座標，和透過運動方程式的推導與運算，在運算過程中要考量到被動不穩定，被動的力量在本系統中是利用實驗所量測的力量，並透過擬合曲線取得其力量的方程式。最終設計PID控制器來滿足系統的需求，然後透過模擬的方式來模擬系統是否能回到平衡位置上。 Nowadays, the industrial development gradually becomes a trend of automated control and analysis of big data. The content of development included high-accuracy, high-speed and high-efficiency. It’s important that the concept and technology of Maglev push forward the industry 4.0. Also this paper hope that the theory will be hypostatized. There are different advantages of Maglev such as frictionless, long service life and no noise which make the guideway much more excellent than the Linear guideway in this paper. Maybe someday, the magnetic guideway will replace the linear guideway which had been used in the recent.The magnetic guideway in this paper is designed and developed by myself, and the design purpose will make the entire guideway float completely. At the controller's part, I added coils which play an important role in this system. And it's able to push the passive force back to the equilibrium position, so we simulate the size of coils by the Maxwell. Also the passive as important as coils, the significant function of the passive provides the carrying capacity. The Halbach array which through the different arrangement to enhance the magnetic force of the one side and reduce the other side at the same time is a considerable factor. There are five degrees of freedom in the magnetic guideway, and those must allow for the coupling of the whole system. To understand the coupling phenomenon, it was necessary to describe the coordinate of the system dynamics properly by selection and through the corollary, operation of the kinematic equation. In the process of calculation, the passive was thought of instability. However, the passive force is measured in the system by the experiment and it's through the curve fitting to obtain the equation of the force. Eventually, the PID controller was designed to meet the needs of the system, and I can know that whether the system will be able to go back to the equilibrium position by simulation