現今工具機為實現高速高加工精度的需求，以線性馬達做為主要的驅動元件，在提升工具機剛性及頻寬的考量下採用龍門式架構的設計為主，將雙線性馬達以機械懸臂連結來平行驅動以實現單一軸的運動，為防止機械懸臂的變形，同步控制實為其關鍵技術。
本論文主要針對機械耦合的問題，將機械懸臂的影響視為一不確定性，採用同步主端命令式之同步控制架構，結合解耦控制器以及內模式控制的觀念，並考量實際系統中不可避免之不確定性及未知干擾，試著對具機械耦合雙線性伺服系統之同步運動控制進行探討，期望達到較佳之同步效果。

The demand of modern technology is highly required by humans. The Linear motor, one of the most significant inventions, has been playing a vital role in driving component. The Structure of the gantry is the main design and the requirement of high bandwidth and rigidity. Twin-linear motors coupled and paralleled with machining beam are to realize one degree-movement. To prevent the marching beam from deformation, the synchronized motion control becomes an important technology for this machine.
This thesis solves the problem of the mechanism coupling by using of the synchronized master command approach which integrates the decouple control and internal model control and taking the mechanism beam as an uncertainty. Both system uncertainties and unknown disturbances occurring in actual implementation need to be carefully considered. And the synchronized motion control of the two linear servo systems with mechanism will be investigated. Better synchronization performance for two motors can therefore be anticipated.

目 錄……………………………………………………………………Ⅰ
圖索引……………………………………………………………………Ⅲ
表索引……………………………………………………………………Ⅶ
摘 要……………………………………………………………………Ⅷ

第一章 緒論...............................................1
1-1 前言…………………………………………………………………1
1-2 文獻回顧……………………………………………………………3
1-3 機械耦合系統與研究目的…………………………………………9
1-4 論文架構………………………………………………………….11

第二章 耦合系統建立…………………………………………………13
2-1 耦合系統及其特性……………………………………………….13
2-2 耦合系統的選用………………………………………………….22

第三章 控制器設計……………………………………………………23
3-1 解耦控制………………………………………………………….25
3-2 速度迴路控制器………………………………………………….33
3-3 位置迴路控制器………………………………………………….40
3-4 位置迴路之命令前饋控制器…………………………………….41

第四章 系統模式建立與模擬結果............................44
4-1 系統數學模式建立.....................................44
4-2 控制參數的選用.......................................50
4-3 軌跡設計.............................................52
4-4 模擬結果與分析.......................................55

第五章 結論與未來展望....................................83

參考文獻..................................................84
附錄A Crisp Signal 之頻率範圍............................87
附錄B 解耦架構的整理.....................................88
附錄C 主要通道轉移函數對系統參數的敏感...................89
附錄D 耦合通道轉移函數對系統參數的敏感度................ 92
附錄E 兩軸轉移函數對系統參數的敏感度.....................95
附錄F 同步誤差轉移函數對系統參數的敏感度.................98

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