本文利用壓力型伺服閥和流量型伺服閥進行單軸撓性氣壓機械手臂的角位移控制。利用類神經自組織滑動模糊控制理論設計控制器，藉由Microsoft Visual Studio 2008設計控制軟體。自組織模糊學習機構即時修正模糊規則表，類神經網路學習機構即時修正系統的G_u和K_I。過程中將透過不同負載、頻率及波形輸入在單軸撓性氣壓機械手臂的實驗。實驗結果顯示在無負載與有負載之步階實驗，暫態與穩態性能上壓力型伺服閥比流量型伺服閥較好，在無負載與有負載之0.05~0.2Hz正弦疲勞實驗，顯示流量型伺服閥的控制性比壓力型較佳。

This paper use various servo valves on the Single-Axial Pneumatic Arms to control the angular displacement. Use the Neural Network Self-Organizing Sliding Mode Fuzzy Control to be a controller, then use
Microsoft Visual Studio 2008 to be a design software. Self-Organizing immediate correction the fuzzy rule table and Neural Netwrok immediate correction the system’s G_u and K_I. During experiments will through different load, frequency and waveform input on the Single-Axial Pneumatic Arms. Experimental results show that P-Valve is good than Q-vale at no load step experiment and load step experiment, and Q-valve is good than P-Valve at no load 0.05~0.2Hz sinusoidal experiment and load 0.05~0.2Hz sinusoidal experiment.

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