點到點運動控制，在現今業界追求高生產效率的自動化環境中，一直是重要的課題之ㄧ。為了增加設備的效能，提升點到點定位的速度與精度則是必要的關鍵技術。本文提出一設計馬達輸出運動曲線方法，來達到快速點到點定位，並減低定位後殘振。首先，透過頻譜分析儀量測定位系統的動態響應，並依此分析、建立模擬方程式。再來，將以目前業界廣用的S-curve運動曲線為基礎，建立出擁有不同加減速特徵的運動曲線。然後，將整合上述之方程式，模擬系統在非對稱運動曲線下的動態響應，並以此搜尋出最適當的運動參數。最後將以傳統的一般對稱型S-curve，運用定位平台實際量測以分析驗證模擬結果。

To provide point-to-point output motions needed for automation, intermittent indexing tables have widely been employed in various industries. For ensuring adequate production volume and profit margins, such devices are usually required to accurately generate intermittent motions as rapidly as possible. As a result, both of the positioning time and residual vibration are major concerns with the design of a fast, intermittent indexing table.
A procedure that can be used to synthesize motor motion curves with minimized positioning time for intermittent indexing tables at high speeds is presented. First, based on the measured dynamic characteristic of an indexing table, it is then simulated to derive the equations of motion. Subsequently, favorable parameters for defining asymmetrical motor motion commands by S-curves for the modeled indexing table with improved kinematic and dynamic performance are identified. To verify the accuracy and effectiveness of the proposed approach, numerical and experimental results are revealed and compared to those obtained by using the traditional method.

第一章 緒論 1
1-1 前言 1
1-2 文獻回顧 3
1-3 研究目的與研究方法 6
1-4 論文架構 8

第二章 定位平台簡介與機電整合 9
2-1 定位平台簡介 9
2-2 傳動系統總負荷慣量計算與動力輸出分析 12
2-3 PC-Based控制系統 16

第三章 動態方程式建構與運動曲線合成 19
3-1 系統動態參數量測 19
3-2 系統動態方程式建立 22
3-3 運動曲線合成 29
3-4 S-curve速度曲線參數限制 34

第四章 運動曲線參數選取與實驗量測 42
4-1 量測設備架設與實驗規劃 42
4-2 運動曲線參數搜尋 45
4-3 實驗量測與結果分析 53

第五章 結論與未來研究方向 61

參考文獻 63

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