本論文使用PID法則對音圈馬達作伺服控制，以達到快速收斂與精密定位的目的。其中以LM1875 晶片來製作驅動放大電路，並以HCTL2032 晶片製作編碼器所需的解碼電路，以回饋位置訊號，再加以整合後，並以LS(least square)系統鑑定的方法，驗證控制系統的數學模型，並求出系統的參數值，再代入正確的控制理論中，並透過實驗來觀察傳統PID控制的手調方式和系統鑑定後的閉迴路機械系統在其動態行為的差異表現，是否有達到預期設計的運動及效果。而PID控制器則分別以Model-based與Model-free的方式設計，並考慮調節(Regulation)與追循(Tracking)兩種控制問題。最後除了確認達到預期的效果外，也進一步認定系統鑑定後的系統參數，是可信賴且可達到精密定位控制的鑑定方法。

This paper uses PID control to achieve high performance of motion dynamics for a voice coil motor (VCM). The LM1875 IC is employed to create sufficient current to drive the coil, while the HCTL2032 IC is applied to feedback the motion information from the encoder pulses. The least square (LS) algorithm is utilized in identifying the mathematical model of the controlled system. Two PID strategies are evaluated in this research: one is based on the model obtained from LS and the other is from purely manual adjustment of PID gains. Both the Regulation and Tracking control problems are justified via experimental studies. Better performance is able to be observed from the Model-based PID than purely manual counterpart.

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