本研究之目的在控制羅拉式梳棉機(Roller Card)產出棉網(Fiber Web)之均勻度(Uniformity)，首先建立羅拉式梳棉機動態模型，進行動態模型(Dynamic Model)分析與控制設計，最後完成實務驗證。
羅拉式梳棉機動態模型之建立是以系統各主要工作羅拉(Roller)之運動模式，相對速度，針布(Clothing) 及齒針特性推導出棉網之傳輸率及移行率(Collecting Power)，結合由各工作羅拉間之間隙、羅拉中心對應角度與角速度所推演而得的棉網傳遞延遲時間，計算出整體羅拉式梳棉機動態數學模型。
滑動模式控制是可變結構控制系統的一種，將不連續系統區分成不同的子系統，再以所設定的逼近條件及切換條件(控制律)引導系統達到控制目標的方法。本研究中採用滑動模式控制(Sliding Mode Control)作為控制器之設計理論，藉由其不受干擾的強健性能，再經由適當的滑動平面(Sliding Surface)及邊界層(Boundary Layer)的設計達成控制目標獲得均勻的棉網輸出。
本實驗證實滑動模式控制確能有效控制羅拉式梳棉機，提高輸出棉網均勻度。

The objective of this thesis is to control the fiber web uniformity produced by roller card. The dynamic model of roller card has been derived based on the mechanisms configuration and their physical characteristics. The calculation of collecting power is based on the roller surface speed, roller diameter, tooth angle of clothing and the force balance equation of the relative teeth. The transmission time between rollers is derived from the gap between rollers, roller diameter, roller angular speed as well as angles between roller centers.
The stability, controllability and model verification of the derived mathematic model of roller card has been examined and verified. This thesis starts with input output linearization theory to find the relative degree of the roller card mathematic model, then to implement the variable structure feedback control law by means of sliding mode controller.
The performance of sliding mode controller is verified via the control system of roller card. The control system consists of an optic-fiber photo sensor, servo motor system, on-line real time simulation system and a roller card.

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