本論文基於不同造波條件下之水體近似之機械阻抗，研製一模擬器，透過此模擬器來模擬水體於造波狀態下作用於造波機之反作用力，以利後續開發之造波機控制器性能測試。由於造波機本身為一大尺度之控制系統，因控制器失效而造成之硬體損壞將付出極大代價，故控制器之性能必須先經過雛型機之測試驗證之後，再應用到實際系統上。本論文藉由阻抗控制，建立此一小型造波反作用力模擬系統，亦即將水體在造波時之行為(即作用於造波機之反作用力)以機械阻抗方式呈現。此外，為提高伺服系統之性能，本文採SERCOS III (The third generation of SErial Real-Time Communication System)全數位化工業用控制網路進行系統之建置，並透過RTX與Windows作業系統連結，提高系統之整合性與效能。經實驗驗證，本論文所提出之方法確實可準確模擬造波之水體反作用力。

This thesis proposes a load simulator based on mechanical impedances of water in different wave making conditions for development and performance test of wave maker control systems. A full-scale wave maker is considered as a large control system and hence it would be very costly if the system is damaged due to control failure. It is common that the wave maker controller is tested in a preliminary small-scale system before being applied to a full-scale system. Therefore, the purpose of this research is to construct, based on impedance control, a reduced-scale load simulation system that imitates the behavior of the wave (i.e., the reacting force acting on the motors) during wave making. The wave maker controller can then be tested on this simulator and hence confidence can be gained on extension of the controller to the full-scale system. To improve the performance, this thesis uses a fully-digital control network called SERCOS III and develops the whole system via RTX under the Windows platform. The experimental results demonstrate the effectiveness of the proposed simulator.

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