摘 要

本論文主要是以Visual Basic作為軟體開發工具，利用PCI-1710介面控制卡，並以模糊滑動控制器應用於複合式氣壓平台運動系統的控制。此平台之機構是由傳統氣壓缸與氣壓馬達結合成一2D氣壓系統。
PCI-1710介面卡可提供易於操作的視覺化操作介面，能即時準確的控制氣壓平台，並隨時監控平台，可避免使用者不當的操作，而導致機台毀損甚至發生意外，更能針對情況的需求，做出適當的調整機制。
本論文的實驗共分成定位控制及軌跡追蹤等二部分，在定位控制實驗裡，將分別討論各個元件的定位能力。在軌跡追蹤的部分，除了探討氣壓馬達與氣壓缸個別的斜坡及正弦波響應，並進一步探討整合系統之軌跡追蹤的性能，可發現模糊滑動控制，不論在定位控制或軌跡追蹤之響應都優於模糊控制，且在加掛負載之後更加明顯。

Abstract

This thesis mainly uses Visual Basic as software developing environment by using the interface card “PCI-1710”. And we apply Sliding Mode Fuzzy Controller (SMFC) to control this 2D hybrid pneumatic system which is combined with servo pneumatic actuator and servo pneumatic motor. PCI-1710 not only can control the system accurately, but also monitor the position of this system to prevent the damage due to the user’s improper operation. It can also make the proper adjustment for various demands.
There are two sets of experiments in this thesis, including position control and trajectory control. For position control experiments, we will discuss the individual component’s position control performances. For trajectory control experiments, we will discuss the tracking performance of ramp and sinusoidal commands in this 2D hybrid pneumatic system. Then, we can find out system’s responses of SMFC is better than Fuzzy control.

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