因應磁浮主軸系統動態具開路不穩定的特性，本論文發展出一套閉迴路鑑別方法，藉此獲得精確的系統模型作為控制器設計的依據。此鑑別方法是基於分散式解耦的控制架構，將多輸入多輸出的系統動態解耦為兩個單輸入單輸出系統來簡化鑑別程序。鑑別過程採用偽隨機二進位序列作為激發訊號，透過基於輸出誤差模型的參數估測演算法來得到參數化模型。為確保演算過程中模型預測誤差能收斂，估測演算法中需引入一濾波器，而本論文特別針對參數估測的濾波器提出一項系統化的設計程序。此程序是基於線性矩陣不等式的求解，利用數值計算保證引入濾波器後的演算法能穩定且收斂。論文提出的控制與鑑別方法先利用模擬驗證其可行性，再將其實際施行於五軸磁浮主軸平台上，並以實驗頻率響應來對鑑別所得之參數化模型進行驗證。

In response to the open-loop instability of magnetic bearing systems, this thesis develops a closed-loop identification method to obtain an accurate system model for controller design purposes. The identification method is based on a decentralized and decoupling control architecture, which allows one to decouple the two-input-two-output system into two single-input single-output systems so as to simplify the identification process. The identification process uses a pseudo-random binary sequence as an excitation signal. A parameterized model is obtained through a parameter estimation algorithm based on the output error model. To ensure that the model prediction error can converge during the computation process, a filter is incorporated into the estimation algorithm. The filter can be synthesized systematically by the solving a set of linear matrix inequalities. The performance of the proposed closed-loop identification method is firstly verified by simulations. Then it is implemented on a five-axis magnetic bearing platform and the parameterized model obtained from the identification are compared to the experimental frequency response.

摘要 I
ABSTRACT II
誌謝 III
目錄 IV
圖目錄 VI
表目錄 XII
符號一覽表 XIV
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 論文簡介 4
第二章 磁浮系統與硬體介紹 5
2.1 磁浮系統 5
2.2 磁浮軸承系統線性化 7
2.3 轉子位置感測 8
第三章 磁浮主軸之靜止懸浮系統 10
3.1 系統模型與動態方程式 100
3.2 平移與旋轉的解耦控制 14
3.3 控制器設計與模擬 17
第四章 系統鑑別 20
4.1 時域系統鑑別介紹 20
4.2 參數修正演算法 21
4.3 偽隨機二進位序列 26
4.4 模型驗證 31
第五章 模擬與實驗結果 33
5.1 軸向軸承鑑別 33
5.2 徑向軸承鑑別 40
5.3 控制器再設計 62
5.4 系統共振模態鑑別 65
第六章 結論與未來規劃 71
6.1 結論 71
6.2 未來規劃 71
參考文獻 72
附錄 74

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