本論文分別以Kollmorgen製造之電流放大器EM19-28030-A02以及功率晶體驅動板實現無軸承離心泵之控制，以強健之PID控制器設計位置迴路與電流迴路控制磁浮軸承系統使永磁轉子穩定浮起，並應用PI控制器、干擾觀測器、前饋補償器於永磁同步馬達之控制，於無載狀態達到額定轉速。
實驗方面以德州儀器所生產的數位訊號處理器TM320F28335作為核心處理器，並使用Code Composer Studio作為軟體編譯開發環境，將控制演算法導入無軸承同步馬達系統。實驗步驟為：先對磁浮軸承系統進行懸浮控制，並下達轉速命令使其運轉至3000rpm，接著以Gain Scheduling方式導入另一組更強健之位置PID控制器參數，並分析轉子軌跡-控制電流之關係。

In this paper, the current amplifier EM19-28030-A02 manufactured by Kollmorgen and the MOSFET driver board were used to realize the control of the bearingless centrifugal pump. The PID controller was designed in the position loop and the current loop to control the magnetic bearing system. The PI controller, the disturbance observer, and the feedforward compensator were used to control permanent magnet synchronous motor. Reached the rated speed in the no-load state.
In the experiment, the digital signal processor TM320F28335 produced by Texas Instruments was used as the core processor, and Code Composer Studio was used as the software compilation development environment to introduce the control algorithm into the bearingless synchronous motor system. The experimental steps were as follows: firstly float up the magnetic rotor, and then issue the speed command to run to 3000 rpm. Then introduce another set of more robust position PID controller parameters in Gain Scheduling mode, and analyze the rotor trajectory-control current relationship.

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