近年來，由於電腦、通訊及消費性電子產業的蓬勃發展，使得對於嵌入式控制器的需求與日俱增，然而因應其產品生命週期短、技術汰換速度快的產業特性，各相關產業無不致力於改進其產品的設計方式及技術，以求縮短嵌入式控制器的開發時間及降低生產成本。因此，有人提出了控制器快速原型化的嶄新設計概念，以解決目前在開發控制器時所面臨的問題。然而，大部份的解決方案其建置成本昂貴且在軟、硬體的搭配選擇上往往受到限制，對於從事學術研究較為不適合。

為了解決上述的問題，本論文中選擇廣為學術界所採用的MATLAB/Simulink、Real-Time Workshop進行控制器快速原型化的研究。而在此也將以建立一控制器快速發展平台為目標，並在此平台上進行控制器的設計、模擬與驗證。最後，利用所設計完成的控制器對一實體的受控廠進行控制。期望有效地解決目前在開發控制器所面臨的諸多問題。

In recent years, the requirement for embedded controllers has been steadily on the increase due to the development of computers, communication and consumptive products. In order to overcome the pressure of short life-time and rapid changing rate of products, however, related industries have been engaged in improving their design to shorten the time to market and to lower the cost. Therefore, a new concept, rapid controller prototyping, has been proposed to solve the problem with the development of controllers. However, most of the proposals are expensive and restricted in the choice of software and hardware, and aren’t adequate for research.

To solve the problems above, this paper has chosen MATLAB/Simulink, Real-Time Workshop, a software widely used by the academic community, as tools to study rapid controller prototyping. Here, we also focus on the establishment of the developing platform. Then we design, simulate and test the controller on the platform established. Finally, we apply the controller to the physical plant. By doing so, this paper expects to solve current problems in the development of controllers.

目錄
目錄…………………………………………………………………….…I
圖索引…………………………………………………………………..IV
表索引………………………………………………………………….VII
中文摘要…………………………………..………………………….VIII
英文摘要…………………………………..……………………………IX
第一章 緒論
1-1前言……………………………………………………………1
1-2動機與目的……………………………………………………2
1-3文獻回顧………………………………………………………4
1-4論文架構………………………………………………………6
第二章 嵌入式控制系統之建構
2-1嵌入式系統簡介..……………………………………………...7
2-2 MATLAB軟體環境介紹……………………………………...9
2-2-1 MATLAB……………………………………………….9
2-2-2 RTW……………………………………………………11
2-2-3 RTW的應用…………………………………………...13
2-3嵌入式設備特性………………………………………………16
2-4 系統規劃與建立……………………………………………...19
2-4-1 硬體驅動程式模塊之建立…………………………...22
2-4-2 RTW元件檔之撰寫………………………………….25
2-4-3 通訊功能之規劃……………………………………..28
2-4-4 人機介面之開發……………………………………..35
2-5 系統效能測試……………………………………………….37
2-6 控制器發展流程比較……………………………………….43
第三章 系統鑑別實驗
3-1系統架構……………………………………………………..45
3-2系統動態模式之建立………………………………………..47
3-3系統之簡化模型與實驗結果的比較………………………..50
第四章 運動控制實驗
4-1實驗系統架構………………………………………………..53
4-2定位控制……………………………………………………..57
4-2-1軌跡規劃………………………………………………...57
4-2-2 PID控制器………………………………………………59
4-2-3 模擬與實驗結果比較..…………………………………60
4-3輪廓控制……………………………………………………..61
4-3-1 直線軌跡追循…………………………………………..61
4-3-2 圓軌跡追循……………………………………………..65
4-4實驗結果探討………………………………………………...68
第五章 結論……………………………………………………...69
參考文獻………………………………………………………………72

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