本論文旨在發展一具自鎖功能之輔助載具用磁性致動器設計。傳統工作於短行程及非連續操作環境的輔助載具用之致動器，在操作時常遇到須在某位置點停頓長時間的情況，但是電能仍需持續付出以維持致動器固定。本研究基於雙氣隙永磁馬達永久磁座的設計概念，提出一新型磁性切換裝置設計。此裝置可結合直驅式馬達或是馬達與齒輪箱的搭配成為新型式之致動器，且其具切換磁通路徑的功能，使此新致動器具有切換高低頓轉扭矩之能力。低頓轉扭矩模式可讓致動器如同傳統致動器般工作，而當其需停頓一段時間於固定位置時，可自動切換為高頓轉扭矩模式可取代電磁力來使致動器維持同一位置，此特性更可保護使用者與致動器所運作之物品安全。而為使此磁性切換裝置可以應用於更廣泛的工作場合，本論文提出了兩種改良型設計。首先針對自啟動式永磁同步馬達轉子結構與輸出特性作一探討，並提出輸出性能最佳之轉子V型磁鐵展開角設計且其樣機效率可達90%。透過此研究，本論文將自啟動式永磁馬達之轉子結構結合前述之致動器設計，提出一可結合磁性切換裝置之新型徑向式外轉子自啟動式永磁同步馬達，使此新致動器具有無需位置感測元件啟動且操作於定轉速下不需變頻器的特性。第二則針對磁性切換裝置進行改良，特過磁路設計使其增加四組軸向繞組，使改良後之裝置具有軸向磁場可控的特性，這將使新致動器於切換過程中更為平順且工作性能更為穩定，以上二點改良將使本論文所發展之致動器可應用於更多不同之工作環境。

This research aims to design a flux-switching actuator with an auto-locking function for power assist devices. Traditional actuators used in situations of brief travel and discontinuity, such as power assistive devices, usually need to stop at a position for a long time but still require electric power supply to maintain sufficient electromagnetic force. This research presents a new flux switching device (FSD) based on the design concept of dual gap permanent magnet motors (PM motors) and magnetic bases. Applications of this device include incorporation with direct-drive motors or motors with gear ratios, which further enable high/low cogging torque switching ability by modifying the flux path. When the proposed actuator is operated in low cogging torque mode, it functions as the traditional device; however, when the actuator needs to maintain the same position, the cogging torque is adopted automatically and alternates to electromagnetic force in high cogging torque mode. This feature can improve the safety of users and products. In order to widen FSD applications, this research also presents two improved actuator designs. The first improvement starts with investigations of the rotor structure and output characteristics of line start permanent magnet motors (LSPMMs). Moreover, the open angle of V-shaped magnets, which possesses better efficiency, is designed such that the prototype efficiency can reach 90%. With this investigation, this research integrates the rotor structure of LSPMMs into the actuator design and presents a new outer rotor type LSPMM, which can be incorporated with FSD and can start up without sensors, encoders, or inverters. To summarize the second improvement, four axial winding coils are added to improve the actuator design, which ensures that the axial magnetic field is controllable; thus, the switching process becomes smoother and the performance more stable. With these two improvements, the actuator developed in this dissertation is applicable to various conditions.

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