A7 B7 301003 五、發明説明（1 ) 本案係關於一種磁浮系統，尤指一種混成電磁磁浮系 統。 自1950年代以來，磁浮即受到世界各國的硏究與重 視，傳統吸引電磁式磁浮主要乃利用傳統電磁鐵爲升力產 生元件，如圖一所示，其原理乃利用大量電流通於一電磁 線圈11，藉由該電磁線圈11及傳統電磁鐵12之導磁作用， 產生吸引式磁力以懸浮一物體13，其主要缺點係爲： a) 該電磁鐵12整體巨大笨重使負載能力不髙，即其 升力對磁鐵重量比僅約爲6 ; b) 於該電磁線圈11中之大量電流產生之歐姆損（約 1.5 kw/ton)，如此將造成散熱困難；以及 c) 必須不斷地從外界供給電流至該電磁線圈11中， 而使得習知磁浮系統無法達成完全無接觸之懸浮· 另一種習知磁浮系統，其乃利用永久磁石與傳統電磁 鐵結合之混成槪念而得致，雖然此槪念在1970年即已被提 出，惟當時之永磁特性非常差，此槪念被認爲不實際，然 時至今日，由於髙磁能積之永久磁石相繼出現，如鐵硼化 銨（NdFeB)，鈷化釤（SmCo)..·等，是以，日本 TOSHIBA公司遂於1989年利用此槪念設計出另一種習知磁 浮系統，其即如圖二所示者；於圖二中，該永久磁石2 1 1與 該傳統電磁鐵212係構成一C型混成磁鐵21，再加上一電磁 線圈22以組成另一種用以承載負載23之習知混成磁浮系 統；但，其仍有下列所示之嚴重缺失： 2 本紙張尺度適用中國國家標準（CNS ) A4規格（2丨0X297公釐） (請先閱讀背面之注意事項再填寫本頁) P.A7 B7 301003 V. Description of the invention (1) This case relates to a magnetic levitation system, especially a hybrid electromagnetic magnetic levitation system. Since the 1950s, magnetic levitation has been investigated and valued by countries all over the world. The traditional attraction of electromagnetic levitation is mainly to use traditional electromagnets as lift-generating components. Through the magnetic permeability of the electromagnetic coil 11 and the traditional electromagnet 12, an attractive magnetic force is generated to suspend an object 13, the main disadvantages are: a) The overall electromagnet 12 is huge and heavy, so the load capacity is not high, that is, its The lift-to-magnet weight ratio is only about 6; b) The ohmic loss (about 1.5 kw / ton) caused by the large amount of current in the electromagnetic coil 11 will cause difficulty in heat dissipation; and c) The current must be continuously supplied from the outside to In the electromagnetic coil 11, the conventional magnetic levitation system cannot achieve complete contactless suspension. Another type of conventional magnetic levitation system is obtained by using a mixture of permanent magnets and traditional electromagnets, although this concept is in It was proposed in 1970, but the permanent magnetic properties at that time were very poor. This concept was considered impractical, but today, permanent magnets due to high magnetic energy products have appeared one after another, such as iron Ammonium boride (NdFeB), samarium cobalt (SmCo), etc., was used by Japanese TOSHIBA company in 1989 to design another conventional magnetic levitation system, which is shown in Figure 2; In FIG. 2, the permanent magnet 21 1 and the conventional electromagnet 212 form a C-type hybrid magnet 21, and an electromagnetic coil 22 is added to form another conventional hybrid magnetic suspension system for carrying a load 23; , It still has the following serious deficiencies: 2 The paper size is applicable to the Chinese National Standard (CNS) A4 specification (2 丨 0X297mm) (please read the precautions on the back before filling in this page) P.
••IT 經濟部中央標準局員工消費合作杜印製 A7 B7 經濟部中央標準局員工消費合作社印裝 五、發明説明（2 ) a) 由於其中所使用之該C型混成磁鐵21極易產生大量 磁漏，故使得其升力對永磁重量比只有9，此對大型運輸系 統之應用實爲不利； b) 再則，如欲大量地使用永久磁石以彌補前述升力對 永磁重量比過低之缺失，則因永久磁石之成本髙昂而顯將 使磁浮系統之造價大幅上揚；當然，大量永久磁石對於製 造加工組裝亦甚爲不易； c) 此外，此等磁浮系統其升力對磁鐵整體重量比只有 3，使得負載能力不髙；以及 d) 又，其控制系統係爲傳統（PID)控制，然因磁浮系 統具有髙非線性且天生不穩定之特性，故採用此控制法將 極易使穩定區域受到限制。 鑑於上述之嚴重缺失，前述習知另一種磁浮系統其在 交通及工業運輸應用之可行性仍受到大幅地限制。 本案之主要目的，即爲完全克服傳統磁浮系統之缺 點，提升永磁之升力效率及獲得適合此系統之強健控制 器，以得致一種具穩健及髙升力對永磁重量比之近零功率 消耗之混成磁浮系統。 本案係關於一種混成電磁磁浮系統，其包括：一被吸 引體，其係用以承載一載具裝置；一具電磁線圈之混成電 磁裝置，置於該被吸引體下方，其與該被吸引體間具一氣 隙，該被吸引體與該混成電磁裝置間之磁力線係可於該氣 隙間產生一吸力，且該混成電磁裝置係可藉由一電壓控制 信號調整控制該吸力，以產生一上升或下降動作，俾改變 3 本紙張尺度適用中國國家標準（CNS ) A4規格（2丨Ο X 297公釐） (諳先閱讀背面之注意事項再填寫本頁) 、va 301003 A7 __B7五、發明説明（3 ) 經濟部中央標隼局員工消費合作社印製 該氣隙之大小；其中，該吸力與該電磁線圈之電流平方成 正比，且與該氣隙之大小平方成反比；一回授控制裝置， 電連接於該混成電磁裝置，該回授控制裝置係可因應該氣 隙之大小與該電磁線圈之電流之變化，而產生該電壓控制 信號輸出；其特徵在於：該混成電磁裝置包括一永久磁石 與一E型電磁鐵，其中，該永久磁石係置於該E型電磁鐵之 中央齒極表面，且藉由該回授控制裝置對該氣隙之自動調 整，以達成近零功率消耗磁浮》 當然，其中該被吸引體係包括：一支架；以及一軌 道，其連結於該支架，俾用以承載該載具裝置。 當然，其中該軌道之剖面係爲倒E型，且略較該E型電 磁鐵之剖面寬度爲窄。 當然，其中該永久磁石係爲髙磁能積稀土式之永久磁 鐵。 當然，其中該E型電磁鐵係爲由複數個E型矽鋼片所叠 成。 當然，其中該複數個E型矽鋼片之齒極係爲相對，俾以 增加側向回歸力並降低漏磁。 當然，其中該電磁線圈係纏繞於該E型電磁鐵之E型窗 中。 當然，其中該混成電磁裝置更包括：一固定絕緣底 座，其係用以承載該E型電磁鐵；一上、下繞線夾殻，設於 該電磁線圈間，其係以面對面方式將該電磁線圈固定於該E 型窗中；以及一防撞固定架，遮罩具電磁線圈之該E型電磁 4 本紙浪尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閱讀背面之注意事項再填寫本頁) -裝· ο 訂 A7 ____B7 五、發明説明（4 ) 經濟部中央標準局員工消費合作社印製 鐵以及該永久磁石，該防撞固定架係用以防止於該氣隙過 小時，避免造成吸死狀態，且可用以防止該永久磁石與該 電磁線圈脫離該E型電磁鐵。 當然，其中該上、下繞線夾殻間係可以絕緣膠固定 之。 當然，其中該回授控制裝置係可包括：一氣隙感測 器，其係用以因應該氣隙之大小；以產生一氣隙感測信號 輸出；以及一線圈電流感測器，其係用以因應該電磁線圈 之電流之變化，以產生一線圈電流感測信號輸出。 當然，其中該回授控制裝置更包括一C型機構，該氣隙 感測器係可樞設於該C型機構之上方平台處，且該C型機構 之下方平台處係可用以支撐位於該被吸引體下方之該混成 電磁裝置，其中，該氣隙感測器係位於該被引體之上方。 當然，其中該回授控制裝置更可包括：一不完美微分 器電連接於該氣隙感測器，其係可因應該氣隙感測信號， 以產生一氣隙變率信號輸出；一可重置積分器電連接於該 線圈電流感測器，其係可因應該線圈電流感測信號，以產 生一積分電流信號輸出；一信號加法裝置，電連接於該氣 隙感測器以及該可重置積分器，其係可用以將該氣隙感測 信號與該積分電流信號相加合成得致一加成信號輸出；一 滑動模式產生器，電連接於該不完美微分器、該信號加法 裝置以及該線圈電流感測器；該滑動模式產生器係可因應 該氣隙變率信號、該加成信號以及該線圈電流信號，而產 生輸出一滑動模式信號；一輸出控制電壓產生器電連接於 5 本紙張尺度適用中國國家標準（CNS ) Α4規格（21〇Χ 297公釐） (請先閱讀背面之注意事項再填寫本頁) -β•• IT printed by the Ministry of Economic Affairs Central Standards Bureau employee consumer cooperation A7 B7 Printed by the Ministry of Economic Affairs Central Standards Bureau employee consumer cooperative V. Invention description (2) a) Because the C-type hybrid magnet 21 used in it is very easy to produce a large amount Magnetic leakage, so that its lift to permanent magnet weight ratio is only 9, which is actually unfavorable for the application of large transportation systems; b) Furthermore, if you want to use a large number of permanent magnets to make up for the aforementioned low lift to permanent magnet weight ratio. If it is missing, the cost of the permanent magnet will be significantly increased, which will greatly increase the cost of the magnetic suspension system. Of course, a large number of permanent magnets are also very difficult to manufacture, process and assemble; c) In addition, the lift ratio of these magnetic suspension systems to the overall weight of the magnet Only 3 makes the load capacity not high; and d) The control system is traditional (PID) control. However, because the magnetic levitation system has the characteristics of high nonlinearity and inherent instability, this control method will be very easy to stabilize The area is restricted. In view of the serious shortcomings mentioned above, the feasibility of the aforementioned conventional magnetic levitation system in transportation and industrial transportation is still greatly restricted. The main purpose of this case is to completely overcome the shortcomings of the traditional magnetic levitation system, improve the lift efficiency of the permanent magnet and obtain a robust controller suitable for this system, so as to achieve a near zero power consumption with a robust and high lift to permanent magnet weight ratio Mixed into the maglev system. This case relates to a hybrid electromagnetic maglev system, which includes: an attracted body, which is used to carry a carrier device; a hybrid electromagnetic device with an electromagnetic coil, which is placed under the attracted body, and the attracted body There is an air gap between them, the magnetic force line between the attracted body and the hybrid electromagnetic device can generate a suction force between the air gap, and the hybrid electromagnetic device can adjust and control the suction force by a voltage control signal to generate a rise or Downward movement to change 3 The paper size is applicable to the Chinese National Standard (CNS) A4 specification (2 丨 Ο X 297mm) (know the precautions on the back before filling out this page), va 301003 A7 __B7 V. Description of invention ( 3) The size of the air gap is printed by the Employee Consumer Cooperative of the Central Standard Falcon Bureau of the Ministry of Economic Affairs; where the suction force is proportional to the square of the current of the electromagnetic coil and inversely proportional to the square of the size of the air gap; a feedback control device, Electrically connected to the hybrid electromagnetic device, the feedback control device can generate the voltage control signal output according to the change of the size of the air gap and the current of the electromagnetic coil; It is characterized in that the hybrid electromagnetic device includes a permanent magnet and an E-type electromagnet, wherein the permanent magnet is placed on the surface of the central tooth pole of the E-type electromagnet, and the air gap is controlled by the feedback control device Automatic adjustment to achieve near zero power consumption maglev. Of course, the attracted system includes: a bracket; and a track, which is connected to the bracket and used to carry the carrier device. Of course, the cross-section of the rail is inverted E-shaped, and is slightly narrower than the cross-sectional width of the E-shaped electromagnet. Of course, the permanent magnets are permanent magnets of rare earth type. Of course, the E-type electromagnet is composed of a plurality of E-type silicon steel sheets. Of course, the tooth poles of the plurality of E-type silicon steel sheets are relative, so as to increase the lateral return force and reduce the magnetic flux leakage. Of course, the electromagnetic coil is wound in the E-shaped window of the E-shaped electromagnet. Of course, the hybrid electromagnetic device further includes: a fixed insulating base, which is used to carry the E-type electromagnet; and an upper and a lower winding clamp shell, which are arranged between the electromagnetic coils, which are used to face the electromagnetic The coil is fixed in the E-shaped window; and an anti-collision fixing frame, covering the E-shaped electromagnetic 4 with electromagnetic coil. This paper wave standard is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) (please read the back side first (Please fill out this page for more details)-Install · ο Order A7 ____B7 V. Description of the invention (4) The iron and permanent magnets are printed by the Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. The anti-collision fixing frame is used to prevent the air gap. When it is too small, it can avoid the state of being sucked and can be used to prevent the permanent magnet and the electromagnetic coil from being separated from the E-shaped electromagnet. Of course, the upper and lower winding clamps can be fixed with insulating glue. Of course, the feedback control device may include: an air gap sensor, which is used to respond to the size of the air gap; to generate an air gap sensing signal output; and a coil current sensor, which is used to According to the change of the current of the electromagnetic coil, a coil current sensing signal output is generated. Of course, the feedback control device further includes a C-shaped mechanism, the air gap sensor can be pivotally mounted on the upper platform of the C-shaped mechanism, and the lower platform of the C-shaped mechanism can be used to support the The hybrid electromagnetic device under the attracted body, wherein the air gap sensor is located above the attracted body. Of course, the feedback control device may further include: an imperfect differentiator electrically connected to the air gap sensor, which can generate an air gap variability signal output in response to the air gap sensing signal; The integrator is electrically connected to the coil current sensor, which can generate an integrated current signal output in response to the coil current sensing signal; a signal addition device is electrically connected to the air gap sensor and the reproducible sensor An integrator can be used to add and synthesize the air gap sensing signal and the integrated current signal to obtain an addition signal output; a sliding mode generator, electrically connected to the imperfect differentiator and the signal addition device And the coil current sensor; the sliding mode generator can generate and output a sliding mode signal in response to the air gap variability signal, the addition signal and the coil current signal; an output control voltage generator is electrically connected to 5 The size of this paper is applicable to China National Standard (CNS) Α4 specification (21〇Χ 297mm) (Please read the precautions on the back before filling this page) -β
G 301003 at B7 五、發明説明（5 ) 經濟部中央標準局員工消費合作社印製 該線圈電流感測器、該信號加法裝置以及該不完美微分 器，該輸出控制電壓產生器係可因應該氣隙變率信號、該 加成信號以及該線圈電流感測信號輸出而產生一控制電壓 信號輸出；以及一正負可切換放大器，其電連接於該滑動 模式產生器以及該輸出控制電壓產生器，該正負可切換放 大器可因應該滑動模式信號以及該控制電壓信號，俾產生 一正負切換電壓信號輸出。 當然，其中該回授控制裝置更包括一功率放大器，電 連接於該正負可切換放大器及該電磁線圈，該功率放大器 係可因應該正負切換電壓信號，俾產生髙功率之順時針或 逆時針方向之電流至該電磁線圈中。 本案得藉下述說明參閱所附圖式而獲較佳瞭解： 第一圖：係以傳統電磁鐵構成之升力產生元件截面示 .-tV. ΓΒΊ 惠圖· 第二圖：係以永久磁石與傳統電磁鐵結合之混成電磁 鐵截面示意圖； 第三圖：係本發明之系統組成示意圖； 第四圖：係本發明之E型混成磁鐵之結構示意圖； 第五圖：係本發明之可變結構控制器之方塊示意圖； 第六圖··係本發明中氣隙感測信號與線圈電流間之波 形關係示意圖。 本案之整體混成電磁磁浮系統如圖三所示：其包括一E 型混成磁鐵31，一被吸引體32，一氣隙感測器33，一 C型 固定架34，一電流感測器35，一可變結構控制器36及一功 6 本紙張尺度適用中國國家標準（CNS ) A4規格（210X297公釐） (請先閱讀背面之注意事項再填寫本I) 裝·G 301003 at B7 V. Description of the invention (5) The coil current sensor, the signal addition device and the imperfect differentiator are printed by the employee consumer cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs. The output control voltage generator can respond to gas The gap rate signal, the addition signal and the coil current sensing signal output to generate a control voltage signal output; and a positive and negative switchable amplifier electrically connected to the sliding mode generator and the output control voltage generator, the The positive and negative switchable amplifiers can generate a positive and negative switching voltage signal output according to the sliding mode signal and the control voltage signal. Of course, the feedback control device further includes a power amplifier electrically connected to the positive and negative switchable amplifier and the electromagnetic coil. The power amplifier can respond to the positive and negative switching voltage signals to generate clockwise or counterclockwise direction of high power Current into the solenoid. This case can be better understood by referring to the attached drawings with the following description: The first picture: a cross-sectional view of a lifting force generating element composed of a traditional electromagnet. -TV. ΓΒΊ 惠 图 · The second picture: a permanent magnet and A cross-sectional schematic view of a hybrid electromagnet combined with a traditional electromagnet; a third figure: a schematic diagram of the system composition of the present invention; a fourth figure: a schematic structural view of the E-type hybrid magnet of the present invention; a fifth figure: a variable structure of the present invention Block diagram of the controller; Figure 6 is a schematic diagram of the waveform relationship between the air gap sensing signal and the coil current in the present invention. The overall hybrid electromagnetic maglev system of this case is shown in Figure 3: It includes an E-type hybrid magnet 31, an attracted body 32, an air gap sensor 33, a C-shaped fixing frame 34, a current sensor 35, a Variable structure controller 36 and Yigong 6 The paper size is in accordance with Chinese National Standard (CNS) A4 specification (210X297mm) (please read the precautions on the back before filling in this I)
C 訂 A7 B7 五、發明説明（6 ) 經濟部中央標準局員工消費合作社印製 率放大器37 ;其中，該被吸引體32係包括一支架321以及 連結於該支架321之一軌道322，該軌道322係可用以承載 一載具裝置（圖未示出）。 現茲將本案中所示之混成電磁磁浮系統各組成部份予 以分別說明如下： 一較佳者，該E型混成磁鐵31之結構係可如圖四所示 者：以高磁能積稀土式之一永久磁鐵41構成主要磁力產生 元件，其置於一 E型電磁鐵（E-core)42之一中央齒表面 421，其中，該E型電磁鐵42係以E型矽鋼片叠成，且齒極 相對，如此將可增加兩導磁機構--即該被吸引體32與該E 型電磁鐵42間之側向回歸力，並降低磁漏；該E型電磁鐵 42窗中（圖四中標示422處）並繞以複數匝電磁線圈43，兩 端加以可控電壓，俾產生控制磁鐵暫態運動之磁動勢； 又，該電磁線圈43間係設一繞線夾殻44(包括上、下繞線 夾殻），其可將該電磁線圈43固定於E型電磁鐵42之窗中。 在該E型電磁鐵42各極之表面，係以塑鋼爲主材質，構 建一防撞固定機構45，其遮照具該電磁線圈43之該E型電 磁鐵42及該永久磁石41，用以防止氣隙過小時，該E型混 成磁鐵31及該被吸引體32間形成吸死狀態，此外，亦可防 止該永久磁石41及該電磁線圈43脫離該E型電磁鐵42之功 用：另還有一固定絕緣底座46，其係用以承載該E型電磁鐵 42 · 至於該可變結構控制器36之系統方塊圖，請參閱圖五 所示者，其中，主迴授信號爲來自該氣隙感測器33之一氣 7 本紙張尺度適用中國國家標準（CNS ) A4規格（210 X 297公釐） (請先閱讀背面之注意事項再填"本頁)C Order A7 B7 V. Description of Invention (6) Printed Rate Amplifier 37 of the Employees Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economy; wherein, the attracted body 32 includes a bracket 321 and a rail 322 connected to the bracket 321, the rail The 322 can be used to carry a carrier device (not shown). The components of the hybrid electromagnetic magnetic levitation system shown in this case are described as follows: One is better, the structure of the E-type hybrid magnet 31 can be as shown in FIG. 4: A permanent magnet 41 constitutes a main magnetic force generating element, which is placed on a central tooth surface 421 of an E-type electromagnet (E-core) 42, wherein the E-type electromagnet 42 is formed by stacking E-type silicon steel sheets, and the teeth The poles are relatively opposite, so that two magnetic permeability mechanisms can be added-that is, the lateral return force between the attracted body 32 and the E-type electromagnet 42 and the magnetic leakage is reduced; the window of the E-type electromagnet 42 (Figure 4 Marked 422) and wound with a plurality of turns of electromagnetic coil 43, a controllable voltage is applied at both ends to generate a magnetomotive force that controls the transient movement of the magnet; in addition, a winding clamp 44 (including , Lower winding clamp case), which can fix the electromagnetic coil 43 in the window of the E-shaped electromagnet 42. On the surface of each pole of the E-shaped electromagnet 42, the main material is made of plastic steel, and an anti-collision fixing mechanism 45 is constructed, which covers the E-shaped electromagnet 42 and the permanent magnet 41 with the electromagnetic coil 43 for To prevent the air gap from being too small, the E-type hybrid magnet 31 and the attracted body 32 form a dead state, in addition, it can also prevent the permanent magnet 41 and the electromagnetic coil 43 from escaping the function of the E-type electromagnet 42: in addition There is a fixed insulating base 46, which is used to carry the E-type electromagnet 42. As for the system block diagram of the variable structure controller 36, please refer to FIG. 5, where the main feedback signal is from the air gap Sensor 33 Yiqi 7 This paper scale is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) (please read the precautions on the back before filling in " this page>
A7 ________B7五、發明説明（7 ) 經濟部中央標準局員工消費合作社印製A7 ________B7 V. Description of Invention (7) Printed by the Employee Consumer Cooperative of the Central Bureau of Standards of the Ministry of Economic Affairs
隙感測信號〔Ag〕與來自該電流感測器35之一線圈電流信 號〔△〖〕，其可分別經由一不完美微分器51及一可重置積 分器52而得氣隙變率〔Ag’〕及積分電流M Aidt〕兩信 號，接著將該氣隙感測信號與該積分電流之放大信號输入 —信號加法裝置53而得一新信號〔Ag + kS Δίίΐΐ〕，之 後，將該新信號〔Ag + kS ZUdi;〕、該氣隙變率〔Ag’〕及 該線圈電流〔△ Π三信號分別饋入一滑動模式（sliding mode)產生器54與一輸出控制電壓產生器55中；當然，該 滑動模式產生器54與該輸出控制電壓產生器55將分別因應 產生一滑動模式信號與一控制電壓信號輸出，之後，該滑 動模式信號（抑或謂對零比較信號）與該控制電壓信號再皆 輸入至一正負可切換放大器56中，以產生輸出一正負切換 電壓信號，其俾可用以控制切換該正負可切換放大器56之 輸出電壓之正負。 當然，該可變結構控制器36之輸出信號：該正負切換 電壓信號，係用以送入該功率放大器37中，俾驅動圖四中 所示之該電磁線圈43。 當然，爲進一步揭露本案之動作原理，煩請參閱如下 說明： 於本案中，通過由該永久磁石41、該E型電磁鐵42所 構成之該E型混成磁鐵31與該被吸引體32之磁力線，係可 在氣隙間產生吸力，此吸力與通過該電磁線圈43之電流平 方成正比，與氣隙大小平方成反比；故當吸力太小時，於 該電磁線圈4 3通以同向電流，使之產生額外升力，俾將該E 8 本紙張尺度適用中國國家標準（CNS ) A4規格（210 X 297公釐） (¾¾閱讀背面之注意事項再填寫本頁) 裝· 〇 301003 A7 B7五、發明説明（8 ) 經濟部中央標隼局員工消費合作社印製 型電磁鐵42向上拉至可使該永久磁石41產生平衡力之氣 隙，使該線圈電流回復至零；反之亦然。 上述動作皆可由該可變結構控制器36自動調節，其動 作係爲：將該氣隙感測器33所感應到之該氣隙感測信號〔△ g〕及該電流感測器35所感測之該線圈電流信號〔△〖〕輸入 至該可變結構控制器36中，以產生該氣隙變率〔^g’〕及由 該氣隙感測信號〔Ag〕與該積分電流信號〔kSAidt〕所形 成之新信號〔Ag + kS Aidt〕；當然，該積分電流信號在 此可當作一外部負載變化之観測器，使得負載加重時，懸 浮氣隙縮小，反之亦然；如以數學來表示即： Ag + k S Aidt->0 上式可由能量守恒定律中得到驗證，也因此穩態 輸出電壓在任何負載下均爲Q，因而達成近零功率懸浮。 此外，由於該可變結構控制器36之穩健及可預設干擾 程度之特性，顯將可有效抑制系統之非線性。 當然，爲證明本發明確實可達到近零功率懸浮，煩請 參閱第六圖’其係爲本發明中氣隙感測信號與線圈電流間 之波形關係示意圖，於圖六中，標示G者係爲氣隙感測信 號，而標示C者則係爲線圈電流信號，同時，橫軸標示τ者 係代表時間；其中，氣隙感測信號G於時間T1處所產生波形 上升之變化’係爲因應加上負載而產生的（當然，於圖六中 氣隙感測信號G於時間T1之後所顯示之波形狀況，係指仍處 於有負載之意），而此時於時間T1處之線圈電流信號C亦會 產生所相對應之變化，然而，對於線圈電流信號c而言，該 (計先父讀背面之注意事項再填艿本頁)The gap sensing signal [Ag] and a coil current signal [△ 〖] from the current sensor 35 can be obtained by an imperfect differentiator 51 and a resettable integrator 52 respectively. Ag '] and integrated current M Aidt] two signals, and then input the air gap sensing signal and the amplified signal of the integrated current to the signal adding device 53 to obtain a new signal [Ag + kS ΔίίΙΐ], after which The signal [Ag + kS ZUdi;], the air gap rate [Ag '] and the coil current [△ Π] three signals are fed into a sliding mode generator 54 and an output control voltage generator 55, respectively; Of course, the sliding mode generator 54 and the output control voltage generator 55 respectively output a sliding mode signal and a control voltage signal, and then, the sliding mode signal (or zero-comparison signal) and the control voltage signal They are all input into a positive and negative switchable amplifier 56 to generate and output a positive and negative switching voltage signal, which can be used to control the switching of the positive and negative of the positive and negative switchable amplifier 56 output voltage. Of course, the output signal of the variable structure controller 36: the positive and negative switching voltage signal is used to feed into the power amplifier 37 to drive the electromagnetic coil 43 shown in FIG. Of course, in order to further disclose the operating principle of this case, please refer to the following description: In this case, the magnetic lines of force of the E-type hybrid magnet 31 and the attracted body 32 composed of the permanent magnet 41 and the E-type electromagnet 42, The suction force can be generated between the air gap, which is proportional to the square of the current passing through the electromagnetic coil 43 and inversely proportional to the square of the air gap size; therefore, when the suction force is too small, the electromagnetic coil 43 passes the same direction current to make it If additional lift is generated, the E 8 paper size will be applied to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) (¾¾ Read the precautions on the back and then fill out this page) 装 · 〇301003 A7 B7 (8) The printed electromagnet 42 of the Employees ’Cooperative of the Central Standard Falcon Bureau of the Ministry of Economic Affairs is pulled up to an air gap that can generate a balance force of the permanent magnet 41, and the coil current is returned to zero; and vice versa. The above actions can be automatically adjusted by the variable structure controller 36. The actions are: the air gap sensing signal [△ g] sensed by the air gap sensor 33 and the current sensor 35 sensing The coil current signal [△ 〖] is input to the variable structure controller 36 to generate the air gap rate [^ g '] and the air gap sensing signal [Ag] and the integrated current signal [kSAidt 〕 The new signal formed [Ag + kS Aidt]; of course, the integrated current signal can be used as an external load change detector, so that when the load is heavier, the suspended air gap is reduced, and vice versa; if mathematically The expression is: Ag + k S Aidt-> 0 The above formula can be verified by the law of conservation of energy, so the steady-state output voltage is Q under any load, thus achieving near zero power suspension. In addition, due to the robustness of the variable structure controller 36 and the characteristics of the presettable interference level, the nonlinearity of the system can be effectively suppressed. Of course, in order to prove that the present invention can indeed achieve near zero power suspension, please refer to the sixth figure, which is a schematic diagram of the waveform relationship between the air gap sensing signal and the coil current in the present invention. In FIG. The air gap sensing signal, and the one marked with C is the coil current signal, and the horizontal axis marked with τ represents time; where the change in the waveform rise of the air gap sensing signal G at time T1 is due to Generated by the upper load (of course, the waveform displayed by the air gap sensing signal G after time T1 in FIG. 6 means that it is still under load), and the coil current signal C at time T1 Corresponding changes will also occur, however, for the coil current signal c, this (counting the precautions on the back of the father before filling this page)
、-·* 9 本紙張尺度適用中國國家榡準（CNS ) A4規格（210X297公釐） 經濟部中央標準局員工消費合作杜印製 A7 B7 五、發明説明（9) 項之變化係僅爲一暫態現象，線圈電流信號C隨後又將立即 回復到未加負載前之趨近零功率消耗之穗定狀態，是以， 透過圖六所示者，當足以證明本發明確係可達成近零功率 懸浮之功能。 綜上所述，本案所揭示之E型混成磁鐵，其升力對永磁 重量比高達100以上，且升力對磁鐡整體重量比大於10， 與傳統磁浮系統相比，實爲重大突破，再加上由可變結構 控制器達成近零功率懸浮，除能不需外在電源持續供給達 成完全絕對無摩擦之懸浮特性外，其所擁有之穩健特性亦 可使負載能力提升，並因積分電流與氣隙信號之加成迴授 而使氣隙感測器之精密度及零位準校正之要求降低，進而 提高了系統可靠度，如此一來，本案顯將可廣泛地應用於 物料搬運系統、旅客運輸系統或高速軸承等載運系統中， 是以，本案實爲一極具實用性、進步性、新穎性之發明。 本案得由熟悉本技藝之人士任施匠思而爲諸般修飾， 然皆不脫如附申請專利範圔所欲保護者。 10 本紙張尺度適用中囷國家標华·（ CNS ) A4規格（210X297公釐〉 (請先閱讀背面之注意事項再填寫本頁),-* 9 The paper size is applicable to China National Standard (CNS) A4 (210X297mm). The Ministry of Economic Affairs Central Standards Bureau employee consumption cooperation is printed A7 B7. 5. The description of invention (9) is only one change Transient phenomenon, the coil current signal C will then immediately return to the state of zero-power consumption before the load is added, so, as shown in Figure 6, it is enough to prove that the present invention can achieve near zero The function of power suspension. In summary, the E-type hybrid magnet disclosed in this case has a lift to permanent magnet weight ratio of more than 100, and the lift to magnet overall weight ratio is greater than 10, which is a major breakthrough compared to the traditional maglev system. The variable structure controller achieves near-zero power suspension. In addition to the continuous absolute power supply without external power supply, it can achieve a completely absolute frictionless suspension characteristic. Its robust characteristics can also increase the load capacity. The feedback of the air gap signal reduces the precision and zero level correction requirements of the air gap sensor, thereby improving the reliability of the system. In this way, this case will be widely applicable to material handling systems, In the passenger transportation system or high-speed bearing and other transportation systems, this case is indeed an invention with great practicability, progress and novelty. This case may be modified by any person familiar with this skill, Ren Shi Jiangsi, but none of them can be protected as attached to the patent application. 10 The size of this paper is applicable to China National Standard (CNS) A4 (210X297mm) (Please read the precautions on the back before filling this page)