傳統電腦模擬係以數值方法求解數學模型來完成。此種簡化過程忽略了諸多因素，使得其與真實實驗，仍有可觀的差距。習用的即時模擬以真實時間來模擬系統動態行為，大幅改善了模擬的真實度，但是其仍然未考慮硬體與模型間的差異。硬體迴路模擬則將某部分的實際硬體嵌入模擬迴路中，以避開該部分硬體與模型間的差異；不過，卻引入了界面匹配的麻煩。本論文提出以即時環境下獨立運作的電腦作為系統模擬器，來取代真實硬體，使得控制電腦將其視為實際系統，進行與實驗無異的控制行為。如此取得的結果，雖無法達到真實實驗的準確度，卻比純粹模擬要真實許多。此種概念可應用在工程上，以作為實驗前的準備，來測試各種極端的環境設定，無須擔心系統受損，達成節省成本與縮短開發時間的效果。此種模擬器亦適用於教育用途，以取代昂貴的實驗設備，替教育單位省下建置成本，並且減少系統維護的麻煩。

Traditional computer simulation relies on numerical solution of the mathematical representations of the system which inevitably introduces various deviations from the actual situation. One available improvement is the real-time simulation which simulates the system dynamic behavior in the real-time environment and gives better fidelity in the computer simulation. However, the difference between hardware and mathematical model is not considered either. The method embedding the real hardware in the simulation loop to replace the unmodeled subsystem is called the hardware-in-the-loop simulation. The inconsistency between the real hardware and the math model is prevented but still with problems like interface matching issues. In this thesis, we propose to use a plant emulator operating in real-time to replace the actual system in which the controller may consider the emulator as a real hardware and a simulation can be conducted like an experiment. This emulator can be used in engineering filed before an actual experiment to validate hardware and software setups without worrying system damaged to reduce the cost and development time. Furthermore, the emulator is also suitable for educational purpose will less budget and easier maintenance.

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