磁浮技術的發展已被廣泛的應用在高科技工業，是因為它存在著無接觸、無摩擦、無汙染和低噪音的優點。本論文描述了混合式磁浮避震器的設計和測試，藉由過去實驗室學長的經驗和分析改善缺點製作出新型的磁浮避震器。磁浮避震器的元件設計是使用Solid Work軟體繪製而成，它可以清楚的看出各個原件的配合情形以便修改和做材料的選取。設計完成後推導磁浮避震器的磁力和系統方程式來作分析和控制。本論文是使用滑動控制法並且以MATLAB/Simulink 做為控制環境來模擬系統的穩定性和強健性，完成了磁浮避震器的測試後再對經典的球和桿系統做穩定平衡控制。球和桿系統使用微處理器去控制驅動電路和磁浮避震器，並且成功的達成了機電整合的效果。系統的穩定控制是先推導出球和桿系統的動態方程式，再以滑動控制法作穩定平衡模擬，再將滑動控制法結合模糊控制法完成可變平衡位置的平衡控制。本文中對不同的情況分別做實驗，皆得到符合預期的結果，並做詳盡的比較與分析。

The development of magnetic suspension technology has been widely applied in high-tech industry. MS has features of contact-free, friction-free, low contamination and low noise. This thesis describes the design and examination of the hybrid MS vibration absorber referring to laboratory’s previous works with analyses to improve the shortage in a newly created MS vibration absorber and system. Each component is designed by Solid Work, which can observe clearly the collocation situation among every component and easily revise and choose the material. The MS vibration absorber is analyzed and controlled by deriving its magnetic force and system state equations. This thesis uses MATLAB/Simulink to simulate the stability and robustness of system, and applies sliding mode control in the balance and stable the classic ball and beam system. The drive circuit and MS vibration absorbers are controlled by the microcontroller in ball and beam system, and it accomplishes the mechatronics. The stable control of system is to derive the dynamic equation of ball and beam system and uses SMC to simulate. The combined SMC and FLC are used to control the adjustable stable position. This thesis test separately for different situations and the results are conformed to desired responses. Finally, comparison and analyses of the results in laboratory have presented good improvements on the proposed system.

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