由於石油危機，綠能逐漸受到重視。本文提出高效率磁性行星齒輪系為主的可變慣量器與能量回存器，以回存工廠機具加工時耗損的間歇能源。該無油封的非接觸式磁性行星齒輪系具有過負載保護機制。可變慣量器即是一採用三端點行星齒輪系之可控等效慣量機械裝置，並利用行星齒輪系具兩輸入一輸出應用模式進行實現。本文探討之可變慣量器為具有一外在能量輸入的行星臂端、一個具有前饋控制機制的外環輪端、與一能量調和輸出的太陽輪端，基於慣質器與阻抗控制的設計概念，該可變慣量器之外環驅動馬達可用於控制行星臂端的等效慣量。本研究首先針對行星齒輪系之齒輪對上各接觸點的切線速度關係，採用控制學方塊圖法建立運動關係方塊圖，推導分析其各種可能的應用模式之機構輸入輸出運動關係。由控制學的回授與前饋機制描述機構上的增速與減速功能，並引入靈敏度與特徵方程式分析行星齒輪系各應用模式特點。以行星臂的轉矩為輸入、加速度為輸出，控制方塊圖法亦用以推導可變慣量器的動態模型，可變慣量器動態模型整合馬達動態模型、控制架構與行星齒輪動態模型，並以此模型進行等效慣量推導與電腦模擬。可變慣量器內控制架構主要採用具前饋之偽微分回授控制(PDFF)，相較於比例積分控制器(PI)，其具有低通濾波特性提供剛性控制效果，能得到較佳的速度輸出響應，並輔以具低通濾波效用之估測器得到外擾變動的命令輸出補償。
本研究藉由實驗進行驗證以描繪行星臂上等效慣量控制範圍，在採行外環低慣量化設計且外環端的操控頻寬量測結果做為應用間歇場合之條件。最終，包含可變慣量器、發電機與電力轉換器的能量回存器以間歇運動輸入能量之狀況進行實驗，由該實驗分析得到磁性行星齒輪系效率約為92%，並可擷取86至95%的外在間歇能量。

Green energy has become an important resource due to the petroleum crisis. To recycle wasted intermittent energy resources generated from factory machines, the variable-inertia device and the energy recycler were proposed by using the high-efficiency magnetic planetary gearbox. The seal-less nature of the proposed non-contact magnetic planetary gearbox provides a low-inertia design and an over-load protection characteristic for high-torque transmission.

A variable-inertia device is a mechanical device (holding a planetary gearbox) with controllable equivalent inertia, and a planetary gearbox was employed in the 2-inputs 1-output mode; the variable-inertia device holds one external energy-input terminal (the carrier), one feedforward control terminal (the ring gear), and one integrated energy-output terminal (the sun gear). Based on the concept of inerter design and impedance control, the ring-gear motor controls the equivalent inertia of the carrier. For planetary gear systems, control techniques were employed to analyze kinematic relationships via block diagrams. The revealed tangent-velocity equations at each contact point of the mechanical gearsets were utilized to plot the block diagrams. Then, the concepts of feedback and feedforward strategies were adopted to illustrate speed-reduction and -increasing functions in kinematics with the sensitivity and characteristic equation.

The control block diagram technique was utilized to represent the dynamic model of the variable-inertia device for the equivalent-inertia derivation and computer simulation, in which its equivalent inertia can be found by the transfer function from the torque to the acceleration at the carrier. PDFF (Pseudo Derivative Feedback with Feedforward) controller was utilized in the variable-inertia device, and it held the additional low-pass-filter property in comparing PI controller. The load observer was combined into the PDFF control strategy to estimate the disturbance. Then, experiments were conducted to verify the dynamic model, and the controlled range of the equivalent inertia was illustrated. Moreover, operational bandwidth at the ring-gear terminal was also measured. Finally, the energy recycler, including the variable-inertia device, the generator, and the power converter, was tested in an intermittent situation. Regarding the results, the magnetic planetary gearbox held the efficiency of 92%, and the harvested percentage of intermittent energy stayed at 86 ~ 95%.

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