如今隨著科技的發展，產品不斷朝輕、短、小發展，對於定位控制的精準度也日益嚴格，工具機也朝向高速化、高精密化、自動化的方向前進，並著重於機械、控制、軟體等領域的整合實現。其中線型馬達在直接線性驅動的應用場合有許多優點，逐漸取代旋轉馬達，永磁同步線型馬達具有高能量密度、高轉換效率、高加速能力等優點，其操作原理與旋轉馬達相同，在線型馬達上許多學者也在此研究領域中利用不同的控制方法，研究控制出馬達的最佳性能。
在馬達控制中提及許多控制理論，但在實驗上仍使用的控制方法以向量控制居多，本研究針對永磁同步線型馬達的分析，也利用向量控制的方法進行控制，但僅有向量控制在定位精準度的開發上仍顯不足，所以針對線型馬達的特性與其受到干擾力影響進行分析，其中包含摩擦力、齒槽力、負載造成的結構晃動，並根據分析結果建立相對應的控制器來進行補償，有反積分飽和控制器、干擾觀測器、前饋控制器與輸入成型控制器，以此來增進定位的精準度。
在硬體與實驗的部分採用永磁同步線型馬達，和包含了DSP的線型馬達控制器進行實驗，因為其控制器自行開發的開放性，在控制器內發展一套進階的PID控制器，其中包含了向量控制、反積分飽和控制器、干擾觀測器、前饋控制器與輸入成型控制器，來達到移動2 mm的定位控制，在精準度上容許誤差在±1.5 µm內且穩態時間能小於80 ms的高精準度，且在馬達加載負載5kg、10kg與15 kg上都能達到一定的控制效果。

Nowadays, with the development of science and technology, many products are constantly developing toward lightness, shortness and smallness, and the accuracy of positioning control is becoming stricter. Linear motors have many advantages in the applications of direct linear drives, so they gradually replace rotary motors. Permanent magnet synchronous linear motors have the advantages of high energy densities, high conversion efficiencies, high acceleration abilities, etc. Its operating principle is the same as that of a rotary motor. Many scholars also use different control methods in this research to obtain the best performances of the motors.
Many control theories are developed in motor control, and the most common control method used in experiments is vector control. This thesis focuses on the analysis of permanent magnet synchronous linear motors and applies the vector control method to the motors. However, only applying the vector control is insufficient to have high positioning accuracies, so it is necessary to analyze the influences of disturbance forces, which include friction forces, cogging forces, and structural vibrations due to loads. According to the analysis results, the corresponding controller is developed to compensate the errors caused by the forces in order to enhance the positioning accuracies.
In the hardware and experiments, a permanent magnet synchronous linear motor and a DSP based linear motor controller are used in the experiments. Because of the openness of the self-developed controller, an advanced PID controller is developed. This controller can achieve the positioning control of moving 2 mm, where the accuracy tolerance is within ±1.5 µm, and the steady state time can be less than 80 ms.

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