本文以雙軸伺服馬達平台的定位控制為研究目標，先由系統鑑定後得到近似數學模型，再以model-based的方法設計滑動模式控制(SMC)與極點設計控制(pole assignment control)兩種控制器，並以不同行程以及軌跡追蹤例子，來測試其運動控制之穩定及精確度。
利用滑動模式控制器的強健性來對抗因系統啟動摩擦所造成的非線性外界干擾，並加入boundary layer設計以改善控制器輸出的chattering現象。而極點設計控制器是以近似數學模型設計能達到系統性能要求的控制器，並配合模糊控制器來消除啟動摩擦的非線性，達到精確的控制要求。本文中分別進行電腦模擬及實驗，結果證明本文所設計之控制器有良好的穩定度及工作性能，其精確度達到光學尺解析度(0.005mm)。最後並針對極點設計控制器做往復性運動模式的控制，由實驗結果看出此控制器能夠達成往復運動的性能要求。

The object of this research is to design a controller for x-y servo mechanism positioning. Firstly, the mathematic model is identified. Then the model-based methods, sliding mode control(SMC) and pole assignment control , are used to design the controller for different step response and tracking contour to test the stability and accuracy of motion control.
The robustness of sliding mode controller (SMC) is employed to tackle the disturbance caused by motor offset voltage, the boundary layer is introduced to improve the chattering phenomenon of control law. Pole assignment controller is based on the mathematic model to achieve the desired performance, and the fuzzy controller is added to eliminate the nonlinearity caused by motor offset voltage. Computer simulation and experiment’s results are used to evaluate the controller well stability and performance. The steady state error of step response reached the resolution of the encoder (0.005mm). Finally, the repeatability of pole assignment controller is investigated based on 20 times tests.

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