自2015年聯合國氣候高峰會簽署巴黎協議以來，世界各主要工業國家加速推廣高效能電機應用，其中對永磁式電機推廣更是不遺餘力。在高效能電機之設計過程，因銅損失是影響能效的重要因子，故常採用分數槽及集中繞組來降低繞組端邊上無效導線長度，藉以提升電機能效。在各種電機機械結構中，直接驅動無須機械傳動及減速裝置，具有平穩運轉、低震動噪音、高可靠度、長使用壽命、高維護性、高定位精度、高響應速度等優點。若操作於高負載及超低轉速，具有高輸出扭矩及響應速度之性能，故大量應用於電腦數控工具機之超高定位精度轉盤。
本論文針對以電腦數控工具機之B及C軸之直驅伺服馬達為研究目標，精進習用電機設計之半經驗設計流程計算所有電機設計參數，分析並建立系統化設計法則，以分數槽與集中繞組架構為理論基礎，進行氣隙磁場分布計算分析，再經優化得出最佳槽極配數及繞線數，達成基於馬達靜、動態性能為指標之電機設計目的。於研究過程中使用美商ANSYS公司之RMxprt®及Maxwell 2D/3D®電機用電磁場分析商用軟體，以數值方法計算電磁場之分布及衍生物理量，針對影響靜動態性能之指標參數進行優化，最後以永磁式直驅馬達之雛型進行參數驗證，確認整體設計流程之可行及正確性。

Since the Paris Climate Agreement of UNFCC was consented in 2015, major industrial countries have been escalating the applications of high-efficiency electric machines, especially of permanent magnet type. In the design process of high-efficiency electric machines, fractional-slot concentrated windings are commonly adopted for reduction in end-winding length due to copper losses being de facto factor in efficiency. In various mechanical structures of motors, direct-drive motors come without mechanical transmission and gears plus many advantages, such as smooth operation, low vibration and noises, high reliability, long service life, easy maintenance, high positional accuracy, high response etc. Operating at high load and ultra-low speed, they exhibit high output torque and good responses so that they are often applied in CNC machine tools serving for ultra-precision turntables.
This thesis studies the B and C-axis direct-drive servomotors in CNC machine tools. By revising the design process through semi-empirical rules in motor design, motor design parameters are calculated and analyzed via CAE programs. Then, systematic design rules based on the theory of fractional-slot concentrated windings are employed for calculation and analysis of air gap magnetic field distribution with optimization in the slot-pole combination and winding turns for fulfillment of motor design goals both in the static and dynamic performances. In the study, ANSYS RMxprt® and ANSYS Maxwell 2D / 3D® EM commercial CAE packages are adopted for calculation of the distribution of the electromagnetic field and the associated derivatives of physical quantity. The optimization of the parameters influencing static and dynamic performances are further evaluated. Finally, a prototype of permanent magnet direct-drive motor is built for experimental verification of the methodology both from feasibility and accuracy of the complete design process.

摘 要 I
ABSTRACT II
誌謝 III
目 錄 IV
圖目錄 V
表目錄 VIII
符號文字說明 IX
第一章 簡介 1
1-1研究動機 1
1-2研究目的 4
1-3文獻回顧 4
1-3-1分數槽極配 5
1-3-2集中繞組 6
1-3-3分數繞組定子MMF諧波 7
1-3-4定子MMF諧波消除 8
第二章 基礎電磁理論及公式 16
2-1電磁學定理及法則 16
2-2 伊森法則(Essen’s Rule) 19
2-3馬達等效電路 22
2-4定子MMF諧波計算 23
2-5 永磁設計與工作點分析 26
第三章 直驅電機之設計 33
3-1設計及分析方法 34
3-2設計案例—7.5千瓦永磁式直驅電機設計分析 37
3-2-1電機規格 37
3-2-2定子尺寸與極數 38
3-2-3繞組設計 39
3-2-4電磁鋼材料 42
3-2-5轉子及永磁設計 42
3-2-6 電感分析 43
3-3雛型電機之設計參數與模擬 44
第四章 雛型電機及實驗 54
4-1實驗測試設備架構 55
4-2空載測試 56
4-3加載測試 57
4-3-1定負載不同頻率 58
4-3-2定頻率不同負載 58
4-3-3等效電路計算功率 59
4-4定位精度量測實驗 60
4-4-1 實驗儀器介紹 60
4-4-2定位精度實驗規劃 61
4-4-3定位精度量測結果 62
4-5 Ke值與Kt值的比較 62
第五章 結論與未來工作 77
5-1結論 77
5-2未來工作 79
參考文獻 80

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