本論文主旨為開發解耦演算法之控制器，使其應用於五軸主動式磁浮軸承系統。模擬方面，考慮多輸入多輸出(MIMO)之磁浮軸承質心系統，利用程式對解耦演算法及通用型陷波濾波器進行模擬，並設置系統鑑別之相關步驟，以驗證所撰寫程式之正確性。 實驗方面，以數位訊號處理器TMS320F28335為系統控制核心，並使用Code Composer Studio軟體做為編譯開發環境，將控制演算法導入磁浮軸承系統，用以實現轉子質心平移x、y及轉動θx、θy之解耦合並對陀螺效應進行補償。後續再利用變頻器使磁浮軸承運轉至命令轉速，導入通用型陷波濾波器，降低磁浮軸承系統之震動量。 ;The main purpose of this thesis is to develop a controller for decoupling algorithm, which is applied to the five-axis active magnetic bearing system. In the part of simulation, we consider MIMO system of the active magnetic bearing system to develop decouple algorithm, design a generalized notch filter, and set up the steps of system identification. By this way, we can verify the correctness of codes. In the part of the experiment, the digital signal processor TMS320F28335 is used as the core processor, and the software Code Composer Studio is used as the compiler development environment. By this decouple controller, the translation motion x, y and the tilting motion θx, θy of the rotor can be decoupled and the gyroscopic effect can be compensated. Then the rotor is levitated by the decouple controller. When the operation speed reaches the target speed, a generalized notch filter is used to eliminate the vibration of the active magnetic bearing system.
