本論文使用機率適應性交配及突變機制、菁英政策及人口汰新政策來改良簡單型基因演算法，而期望改良後的基因演算法在大範圍搜尋最佳解時，能減低因過早收斂而落入局部最佳解的機會，且搜尋到近似最佳解的機會可以明顯的提升。
本研究以加速規為感測器，搭配自行設計致動器及利用改良後基因演算法所設計出的數位PID控制器，對線性馬達高速精密定位時所造成的機台振動做主動式抑振。由電腦模擬與各項實驗的結果可以看出，改良後基因演算法所設計出的數位PID控制器，能減少安定時間而有效的抑制線性馬達快速精密定位時所造成的平台振動，使振動系統快速地到達穩

We use the adaptive probabilities of crossover and mutation, elitist strategy, and extinction and immigration strategy to improve the simple genetic algorithm in this study. We expect that the search technique can avoid falling into the local maximum due to the premature convergence, and the chance of finding the near-optimal parameter in the larger searching space could be obviously increased.
The accelerometer is then taken as the sensor for output measurement, and the designed actuator and digital PID controller is implemented to actively suppress the vibration of the plain that is due to the excitation effect of the high-speed and precision positioning of the linear motor. From the computer simulations and the experimented results, it is obvious that the near-optimal digital PID controller designed by modified genetic approach can improve the effect of vibration suppression; the settling time is also decrease. For the vibration suppressions of high-speed precision positioning problems, the vibrating plain system can fastly be stabilized.

目錄 I
中文摘要 Ⅳ
英文摘要 Ⅴ

第一章 緒論與文獻回顧 1
1.1 研究動機 1
1.2 研究目的 1
1.3文獻回顧 2
1.3.1 系統動態模式的建立 2
1.3.2 振動控制 3
1.3.3 致動器 5
1.3.4基因演算法 7
1.4 研究成果與貢獻 8
1.5 論文架構 8

第二章 基因演算法 9
2.1前言 9
2.2基因演算法基本架構 10
2.2.1資料結構 10
2.2.2編碼與解碼程序 10
2.2.3定義適合度函數 12
2.2.4適合度調整 13
2.2.5演化機制 15
2.3 簡單型基因演算法 21
2.4 改良式基因演算法 22
2.4.1機率適應性交配及突變機制 23
2.4.2菁英政策 29
2.4.3人口汰新政策 30
2.4.4改良式基因演算法架構 32
2.5 SGA及AGA兩種演算法比較 33

第三章 激振系統模式建立及抑振致動器設計 41
3.1 激振系統模式建立 41
3.2 激振系統模式參數 ， 及 之鑑別 44
3.2.1 等效質量 的求取 44
3.2.2 等效彈性係數 的求法 44
3.2.3 等效結構阻尼 之鑑別 47
3.3 致動器設計及抑振原理 48
3.3.1 致動器設計原理 48
3.3.2 致動器抑振原理 50
3.3.3 致動器作動原理 52
3.4 致動器模式鑑別 56
3.4.1 原理 56
3.4.2 實驗步驟 58
3.4.3 輸出誤差模型（OE Model）簡介 61
3.4.4 OE model進行系統鑑別結果 61
3.4.5利用改良式基因演算法尋找系統最佳參數 62
3.4.6 OE model與利用AGA搜索後系統模式比較 66

第四章 抑振控制器設計 76
4.1 控制規格與目標設定 76
4.2 PID 控制器設計 80
4.2.1 前言 80
4.2.2 Ziegler-Nichols Method 配合AGA 做為PID參數調整依據 85
4.2.3 PID控制參數 ， ， 設計 87
4.2.4 反積分終結器設置 95
4.3 電腦模擬分析 97

第五章 實驗步驟與結果 99
5.1 實驗步驟 99
5.2 實驗結果 101
5.2 實驗整理 105

第六章 結論與建議 106
6.1 結論 106
6.2 建議 107

參考文獻 107
附錄A：儀器設備詳細規格 111

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