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研究生：	賴建志 Lai, Jian-Zhi
論文名稱：	利用磁場迴授訊號於三維軌跡量測系統之研究 The Study of 3D Trajectory Measurement Systems Based on Magnetic Feedback Signals
指導教授：	蔡明祺 Tsai, Mi-Ching
學位類別：	碩士 Master
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2007
畢業學年度：	95
語文別：	中文
論文頁數：	64
中文關鍵詞：	磁場、軌跡擷取、磁場迴授
外文關鍵詞：	trajectory measurement, magnetic
相關次數：	點閱：69 下載：3
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隨著科技的進步，產業界持續不斷有新技術引進，用以支援各種先進設備的製造開發。於磁場訊號的應用上，因磁具有non-line-of-sight的特殊性質，在一些需要非接觸式量測控制的場合，愈來愈受到國內外產學界研究的重視。隨著磁場相關研究的證實，具空間定位與軌跡擷取的可行性，然而因誤差過大成為此技術急需克服的障礙。本研究主要整合伺服控制及磁場軌跡擷取技術，應用於三維軌跡量測系統，先藉由分析磁通密度分佈特性，再利用三維磁通之量測資訊，推導位置與磁通間的轉換關係，將磁通訊號進一步轉換成系統之位置命令，以完成三維軌跡量測之控制技術。透過相關實驗結果顯示，在不同的操作速度下，軌跡擷取誤差精度皆可控制在一毫米內，本研究配合所提之控制法則，欲完成一台三維磁通之自動量測平台，可大幅提升軌跡擷取之準確性，及提供相關的應用一套更可靠之量測技術。

The application of the magnetic field signals has received much academic attention lately, namely because of the characteristic of non-line-of-sight. Relevant research on magnetic field signals can be verified through trajectory measurement's feasibility. Excessive error has become the obstacle needing to be overcome with this technology. This research applies servo control technology to magnetic field trajectory measurement. Firstly, the characteristic that the intensity of a magnetic field exhibits was analyzed. Using a 3D hall-effect probe, which measures the intensity of a magnetic field, the trajectory of the object is obtained and moved through the formula. The trajectory signal is regarded as the control signal of the servo platform. By using the control rule that this research has designed, a large improvement in the trajectory measurement's accuracy is obtained. The experimental result shows, under different speeds, the error is within 1mm. This research offers a more reliable technology for relevant domains.

摘要................................................I
Abstract...........................................II
誌謝..............................................III
目錄...............................................IV
表目錄.............................................Ⅵ
圖目錄............................................VII
第一章 緒論.........................................1
1.1 前言............................................1
1.2 研究背景與文獻回顧..............................2
1.3 研究目的........................................5
1.4 本文架構........................................7
第二章 磁場理論模型分析.............................8
2.1 圓柱形永久磁鐵磁場模型建立......................8
2.1.1 環形電流之空間磁場分佈........................8
2.1.2 圓柱形永久磁鐵空間磁場分佈...................13
2.2 磁通密度與位置關係.............................15
第三章 磁場軌跡追蹤................................18
3.1 實驗機台介紹...................................18
3.2 軌跡擷取法則...................................19
3.3 軌跡擷取與主動式誤差補償技術...................22
3.3.1 軌跡擷取誤差來源.............................22
3.3.2 誤差補償原理.................................24
3.4 伺服控制應用在誤差補償.........................28
3.4.1 控制系統鑑別.................................28
3.4.2 實現誤差補償技術.............................31
第四章 實驗系統架構與結果分析......................37
4.1 實驗系統架構...................................37
4.1.1 軟體設備.....................................39
4.1.2硬體設備......................................41
4.2 磁場軌跡擷取與誤差補償.........................48
4.2.1 未補償前之軌跡擷取...........................48
4.2.2 補償後之軌跡擷取.............................52
第五章 結論與建議..................................61
5.1 結論...........................................61
5.2 建議...........................................62
參考文獻...........................................63
                                    

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校內：2008-08-08公開
校外：2008-08-08公開

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