以馬達作為動力源的機器系統中，若要達到高扭矩低轉速的功能，齒輪減速機為常見的傳動裝置。一般來說皆是兩者獨立設計後，再視工作需求結合，造成傳動路徑較長、機械元件過多、機械元件間無法避免的摩擦力、以及整體機器系統的體積較大等缺點，為改善上述缺點，可將馬達與齒輪減速機的各組件做更有效的結合設計。本研究以行星齒輪系減速機之太陽齒輪與切換式磁阻馬達之轉子作為整合設計的對象，提出一套系統化整合設計流程，從結構、構形及功能等各方面進行探究，有系統地發展出兩物一體的機電整合裝置。首先，對一現有三相12/16極切換式磁阻馬達與行星齒輪系減速機的基本特性進行完整地探討，歸納整合裝置需滿足的設計需求與限制，並提出整合裝置的概念設計。接著，依據設計需求與限制，選定適合的整合元件後，進一步對齒輪減速機與馬達進行細部設計與分析，齒輪減速機部分包含構形、齒形、齒數、速比、強度等設計方法。馬達部分包含等效磁路法與有限元素法兩種電磁場參數與基本特性分析方法，並進行比較與驗證；此外，應用田口方法進行馬達電氣參數與定轉子幾何構造最佳化設計。最後，比較現有設計與整合裝置輸出特性可知，本研究所提出之整合裝置構形相較於現有設計，不僅能使空間安排更有效、增進整個機器系統的效率，並且將轉矩平均提升了12.94%，轉矩漣波降低了40.74%。

For the purpose of combining the motors and the gear reducers in a more efficient way, this study provides a design process that is based on the aspects of the structure, the configuration and the function. And a mechatronic design which combines the switched reluctance motors (SRM) and the planetary gear train PGT reducer is developed systematically. Firstly, the feasible design concepts are generated from the concluded design requirements and constraints based on the characteristics of an existing three-phase 12/16 pole SRM and PGT reducers. In addition, the integration elements are selected depending on the design requirements and constraints. And, detail design and analysis of the gear reducer and the motor are executed then. The design and analysis methods of the configurations, the gear profiles, numbers of gear teeth, the velocity ratio and gear strength of the gear reducer are performed. The design and analysis methods of the electromagnetic characteristics and the output performances of the motor are also carried out. In addition, the Taguchi method is applied to the optimal design of the electrical parameters and the geometric configuration of the motor. Finally, the output characteristics are compared between the integrated device and the existing design. The average torque is increased by 12.94%, the torque ripple is decreased by 40.74% and the axial space is decreased by 9.10%.

[1] Krishnan, R., 2001. Switched Reluctance Motor Drives, Boca Roton: CRC Press.
[2] 陳政慰，2006，“切換式磁阻馬達之極弧展開角探討”，Motor Express，第303期，國立成功大學馬達科技研究中心，台南，台灣。
[3] 林菀婷，黃郁展，2011，“磁阻馬達領先角度設計”，Motor Express，第437期，國立成功大學馬達科技研究中心，台南，台灣。
[4] Vujicic, V. P., 2012, “Minimization of torque ripple and copper losses in switched reluctance drive,” IEEE Transactions on Power Electronics, Vol.27, No.1, pp.388-399.
[5] Guettaf, A., Benchabane, F., Bahri, M., and Bennis, O., 2014, “Torque ripple minimization in switched reluctance motor using the fuzzy logic control technique,” International Journal of System Assurance Engineering and Management, Vol.5, No.4, pp.679-685.
[6] Gao, X., Wang, X., Li, Z., and Zhou, Y., 2015, “A Review of Torque Ripple Control Strategies of Switched Reluctance Motor,” International Journal of Control and Automation, Vol.8, No.4, pp.103-116.
[7] Fisher, R. A. and Yates, F., 1963, Statistical Tables for Biological, Agricultural and Medical Research, Oliver and Boyd, Edinburgh and London.
[8] Rao, C. R., 2009, Linear Statistical Inference and Its Applications. Vol. 22, John Wiley and Sons. Hoboken, NJ, USA.
[9] 李輝煌，2011，田口方法：品質設計的原理與實務，高立圖書有限公司，新北市，台灣。
[10] Miller, T. J. E. and Mcgilp, M., 1990, “Nonlinear-Theory of the Switched Reluctance Motor for Rapid Computer-Aided-Design,” IEE Proceedings-B Electric Power Applications, Vol. 137, No. 6, pp.337-347.
[11] Radun, A., 1999, “Analytical Calculation of the Switched Reluctance Motor's Unaligned Inductance,” IEEE Transactions on Magnetics, Vol.35, No.6, pp.4473-4481.
[12] 丁文，梁得亮，2009，12/8極雙通道開關磁阻電機飛線性數學模型與有限元分析，電機與控制學報，哈爾濱，中國，Vol. 13, No. 2, pp.190-195.
[13] Lee, K. S., Debortoil, M. J., Lee, M. J., and Salon, S. J., 1991, “Coupling Finite Elements and Analytical Solution in the Airgap of Electric Machines,” IEEE Transactions on Magnetics, Vol. 27, No. 5, pp. 3955-3957.
[14] Mizutani, R. and Matsui, N., 2000, “Design and Analysis of Low-Speed, High-Torque Permanent Magnet Motors,” Electrical Engineering in Japan, Vol. 132, No. 3, pp. 48-56.
[15] Kim, T. H., Choi, J. H., Ko, K. C., and Lee, J., 2003, “Finite-Element Analysis of Brushless DC Motor Considering Freewheeling Diodes and DC Link Voltage Ripple,” IEEE Transactions on Magnetics, Vol. 39, No. 5, pp. 3274-3276.
[16] Ohnishi, T. and Takahashi, N., 2000, “Optimal Design of Efficient IPM Motor Using Finite Element Method,” IEEE Transactions on Magnetics, Vol. 36, No. 5, pp. 3537- 3539.
[17] Tsai, M. C., Weng, M. H., and Hsieh, M. F., 2002, “Computer-Aided Design and Analysis of New Fan Motors,” IEEE Transactions on Magnetics, Vol. 38, No. 5, pp. 3467-3474.
[18] Lacombe, G., Foggia, A., Marechal, Y., Brunotte, X., and Wendling P., 2007, “From General Finite-Element Simulation Software to Engineering-Focused Software: Example for Brushless Permanent Magnet Motors Design,” IEEE Transactions on Magnetics, Vol. 43, No. 4, pp. 1657-1660.
[19] Hsu, Y. S., Tsai, M. C., and Hsieh, M. F., 2008, “Novel Stator Design of Fan Motors Using Soft Magnetic Composites,” Journal of Applied Physics, Vol. 103, No. 7, Paper No. 07F109.
[20] Wrobel, R. and Mellor, P. H., 2008, “Design Considerations of a Direct Drive Brushless Machine with Concentrated Windings,” IEEE Transactions on Energy Conversion, Vol. 23, No. 1, pp. 1-8.
[21] Yan, G. J., Hsu, L. Y., Wang, J. H., Tsai, M. C., and Wu, X. Y., 2009, “Axial-Flux Permanent Magnet Brushless Motor for Slim Vortex Pumps,” IEEE Transactions on Magnetics, Vol. 45, No. 10, pp. 4732-4735.
[22] Johnson, R. C. and Towfigh, K., 1966. Application of Number Synthesis to Practical Problems in Creative Design. ASME paper, No. 65-WA-MD9.
[23] Freudenstein, F., 1971, “An Application of Boolean Algebra to the Motion of Epicyclic Drives,” ASME Journal of Engineering for Industry, Vol. 93B, pp. 176-182.
[24] Buchsbaum, F. and Freudenstein, F., 1970, “Synthesis of Kinematic Structure of Geared Kinematic Chains and Other Mechanisms,” Journal of Mechanisms, Vol. 5, pp. 357-392.
[25] Tsai, L. W., 1987, “An Application of the Linkage Characteristic Polynomial to the Topological Synthesis of Epicyclic Gear Trains,” ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 109, No. 3, pp. 329-337.
[26] Chatterjee, G. and Tsai, L. W., 1994, “Enumeration of Epicyclic-Type Automatic Transmission Gear Trains,” Journal of Passenger Cars: Mechanical Systems, Vol. 103, pp. 1415-1426.
[27] Tsai, L. W., 1995, “An Application of Graph Theory to the Detection of Fundamential Circuits in Epicyclic Gear Trains,” Technical Report TR 1995-97, Digital Repository at the University of Maryland.
[28] Olson, D. G., Erdman, A. G., and Riley, D. R., 1991, “Topological Analysis of Single-Degree-of-Freedom Planetary Gear Trains,” ASME Transactions Journal of Mechanical Design, Vol. 113, No. 1, pp. 10-16.
[29] Hsu, C. H. and Lam, K. T., 1992, “A New Graph Representation for the Automatic Kinematic Analysis of Planetary Spur-Gear Trains,” ASME Transactions Journal of Mechanical Design, Vol. 114, No. 1, pp. 196-200.
[30] Hsu, C. H., 1993, “Synthesis of Kinematic Structure of Epicyclic Gear Trains by Admissible Graph Method,” Journal of Franklin Institute, Vol. 330, No. 5, pp. 913-927.
[31] Hsu, C. H. and Hsu, J. J., 1997, “An Efficient Methodology for the Structural Synthesis of Geared kinematic Chains,” Mechanism and Machine Theory, Vol. 32, pp. 957-973.
[32] Hsu, C. H. and Hsu, J. J., 2000, “Epicyclic Gear Trains for Automotive Automatic Transmissions,” Institution of Mechanical Engineers, Part D, Journal of Automobile Engineering, Vol. 214, pp. 523-532.
[33] Freudenstein, F. and Yang, A. T., 1972, “Kinematics and Statics of a Coupled Epicyclic Spur-Gear Train,” Mechanism and Machine Theory, Vol. 7, pp. 263-275.
[34] Hsieh, H. I. and Tsai, L. W., 1996, ‘‘Kinematic Analysis of Epicyclic-Type Transmission Mechanisms Using the Concept of Fundamental Geared Entities,’’ ASME Transactions, Journal of Mechanical Design, Vol. 118, No. 2, pp. 294-299.
[35] Hsu, C. H. and Lam, K. T., 1992, “A New Graph Representation for the Automatic Kinematic Analysis of Planetary Spur-Gear Trains,” ASME Transactions Journal of Mechanical Design, Vol. 114, No. 1, pp. 196-200.
[36] Yan, H. S. and Hsieh, L. C., 1991, “Kinematic Analysis of General Planetary Gear Trains,” Proceedings of the 8th World Congress on the Theory of Machines and Mechanisms, Prague, Czechoslovakia, Vol. 6, pp. 153-157.
[37] Hsieh, L. C. and Yan, H. S., 1992, “Generalized Kinematic Analysis of Planetary Gear Trains,” International Journal of Vehicle Design, Vol. 13, Nos. 5/6, pp. 494-504.
[38] 顏鴻森，蔡明祺，王心德，洪銀農，洪銀樹，2001，馬達與齒輪整合之裝置，中華民國發明專利第434,977號。
[39] 顏鴻森，吳益彰，2006，整合行星齒輪系之直流無刷馬達，中華民國發明專利第I253800號。
[40] Yan, H. S. and Wu, Y. C., 2006, “A Novel Design of a Brushless DC Motor Integrated with an Embedded Planetary Gear Train,” IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 5, pp. 551-557.
[41] Yan, H. S. and Wu, Y. C., 2006, “A Novel Configuration for a Brushless DC Motor with an Integrated Planetary Gear Train,” Journal of Magnetism and Magnetic Materials, Vol. 301, No. 2, pp. 532-540.
[42] Yan, H. S. and Wu, Y. C., 2007, Geared Motor with Planetary Gear Assembly, U. S. Patent No. 7,211,016.
[43] 吳益彰，顏鴻森，2007，“一種新型齒輪馬達之構想設計”，第十屆全國機構與機器設計學術研討會，台中，台灣，論文編號A12。
[44] 吳益彰，顏鴻森，2008，“整合式行星齒輪系與永磁無刷馬達之構想設計”，中國機械工程學會第二十五屆全國學術研討會，彰化，台灣，論文編號csme25-493。
[45] Wu, Y. C., Chen, G. C., and Yan, H. S., 2011, “Optimization design of a DC commutator motor with an integrated planetary gear train,” IEEE Transactions on Magnetics, Vol. 47, pp. 4461-4464.
[46] Yan, H. S., Wang, H. T., and Liu, J. Y., 2006, “Structural Synthesis of Novel Integrated DC Gear Motors,” Mechanism and Machine Theory, Vol. 41, No. 11, pp. 1289-1305.
[47] 吳益彰，林伯煒，2008，“整合式驅動馬達與內變速器之概念設計”， Motor Express，第303期，國立成功大學馬達科技研究中心，台南，台灣。
[48] 蔡明祺，林博正，陳添智，王明賢，2005，同心式馬達設計與控制應用，國科會專題計畫結案報告，NSC91-2213-E-006-123，台北，台灣。
[49] 蔡明祺，林博正，杜黎蓉，2003，雙同心軸馬達，中華民國發明專利第181543號。
[50] 蔡明祺，林博正，杜黎蓉，2003，無段變速馬達，中華民國發明專利第183349號。
[51] 顏鴻森，1999，機構學，第二版，東華書局股份有限公司，台北，台灣。
[52] 許正和，2006，創造性機構設計學，高立圖書有限公司，台北，台灣。
[53] 賴耿陽，2006，新版實用齒輪設計法，復文書局，台南，台灣。
[54] 朱敏德，2003，機械元件設計，新文京開發出版有限公司，台北，台灣。
[55] 中國鋼鐵股份有限公司，電磁鋼捲電磁特性曲線，1971，高雄，台灣。