磁浮系統在操作上具有無摩擦、無接觸與無噪音的特性，其設計與技術，已經發展非常成熟。本論文使用混合永久磁鐵與回授控制來設計磁浮致動器，由磁場之模擬、驗證以建立系統的參數，進而製成系統雛型，用此磁浮致動器雛型進行實驗與性能測試，再用閉迴路PID控制器來改善其性能。最後再設計、模擬與驗證另一型不同結構的磁浮致動器，致動器內嵌兩組永久磁鐵於其底座與支撐座，透過外部電流控制電磁力而對磁浮致動器機構形成彈簧效應。利用致動器的精確定位及對外界擾動的調節能力，應用於球與桿的平衡系統，控制兩支致動器的支撐座於穩定點的高度達到控制桿角度的變化，使球停止在穩定點上。在控制機制上使用模糊控制法計算球穩定所需之桿角度的修正量，再使用PID控制器控制磁浮致動器高度使球到達穩定位置，並以不同條件的實驗呈現系統的控制性能。最後對改進方法及未來的研究方向提出建議。

Magnetic suspension technology has become very mature for system design and application. There is no friction, contact or noise during operation. This dissertation presents a magnetic vibration actuator developed according to hybrid magnetic suspension design with feedback control. Magnetic field simulation is employed to establish system design parameters and identify the system characteristics for implementation. From simulation results, a system dynamic model is obtained for further design and fabrication. A prototype of the proposed hybrid magnetic vibration actuator design is made for experiments and performance verification. A closed-loop PID controller is implemented to improve vibration absorption performance under different conditions. Finally, we present another magnetic suspension actuator using hybrid magnetic configuration. Two permanent magnets are embedded into the stationary base and the motion support to give a spring effect in the mechanical system. An electromagnet is introduced to exert controllable force onto the motion support. The magnetic suspension actuator is designed to receive accurate position control to bring about changes in inclination angle in the ball-beam system. Under appropriate signal process and control algorithm, the metal ball can be controlled to any position on the beam. The control algorithm combines fuzzy control with PID controller to stabilize the performance of the ball and beam in real time. The proposed ball-beam system is verified by several experiments for its control performance. Finally, suggestions for further research are discussed.

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