本研究首要建立光碟機內光學讀寫頭之動態模型，並以振動平台(shaker)作為振動輸入源，利用雷射位移感測器以鑑別其動態模型參數。光學讀寫頭承載系統固定端使用高分子材料做為阻尼，其具有遲滯(hysteresis)、預載(precondition)、潛變(creep deformation)與鬆弛(relaxation)等非線性與時變特性；本文利用潛變響應實驗比較傳統流變模型(rheological model)與分數微分模型(fractional derivative model)於高分子阻尼材料建模的適切性，並且透過靜平衡實驗求得靜態模型之彈性與質量參數；對於動力學模型建立的部分，利用分數微分建立高分子材料阻尼模型，並藉由輸入弦波振動訊號與系統輸出之近似解析解、數值解與實驗數值互相比較以驗證模型之正確性。其次，藉由振動平台模擬振動干擾環境，使用已鑑別得到之系統模型結合前饋控制(feedforward control)，以完成干擾響應抑制。

In this thesis, the primary objective is to establish a dynamic model of the suspension system of optical pickup head which is built-in the CD-ROM, and to use shaker as input vibration source and laser displacement sensor for the identification of parameters of suspension system model. Since that suspension system use polymer as damping device, it has nonlinear and time-varying properties such as hysteresis, precondition, creep deformation and relaxation. By utilizing creeping experiment, traditional rheological and fractional differential damping models are compared and justified. The parameters of spring constant and mass are obtained through static equilibrium test. In establishing dynamic suspension model, a fractional derivative is employed to model the damping of polymer material and the input sinusoidal vibration to system responses by using approximate analytical solution, numerical solution and experimental test are obtained to compare and validate system model. In addition, simulate an environment with disturbance by shaker, and use the model of system which has been identified combine with feedforward control to finish disturbance response control.

[1]卓煥昌，「形狀記憶合金彈簧懸吊系統用於光碟機平台減振之研究」，大葉大學機械工程研究所碩士論文，中華民國九十五年。
[2]林友聖，「DVD探頭之應用-自動視準儀」，國立台灣大學機械工程研究所碩士論文，中華民國九十六年。
[3]簡日韋，「以光碟讀取頭為基礎之加速規設計與特性研究」，國立交通大學機械工程研究所碩士論文，中華民國九十九年。
[4]黃雅君，「三自由度光學式振動量測探頭之研製與應用」，南台科技大學機械工程研究所碩士論文，中華民國一百零一年。
[5]沈建佑，「四弦型光學讀寫頭控制器與觀測器之實作與驗證」，中原大學機械工程研究所碩士論文，中華民國九十二年。
[6]鍾明勳，「壓電式光學讀寫頭精密定位之強健控制器設計與驗證」，中原大學機械工程研究所碩士論文，中華民國九十三年。
[7]李繼瑜，「光學讀寫頭之自動調變演算法設計與實作驗證」，中原大學機械工程研究所碩士論文，中華民國九十四年。
[8]C. P. Chao, C. L. Lai and J. S. Huang, “Nonlinear dynamic analysis and actuation strategy for a three-DOF four-wire type optical pickup,” Sensors and actuator A, pp.171-182, 2003.
[9]C. P. Chao, C. W. Chiu and C. Y. Shen, “Precision positioning of a three-axis optical pickup via a double phase-lead compensator equipped with auto-tuned parameters,” Microsystem Technologies, vol. 16, pp.117-141, 2008.
[10]N. Minorsky, “Directional stability of automatically steered bodies,” Journal of American Society for Naval Engineers, vol. 34, pp.280-309, 1922.
[11]J. G. Ziegler and N. B. Nichols, “Optimum settings for automatic controllers,” Trans ASME, vol. 64, pp.759-768, 1942.
[12]D. M. MacKay, “Cerebral organization and the conscious control of action,” Brain and conscious experience, Springer, pp.422-440, 1965.
[13]G. M. Clayton, S. C. Tien, K. K. Leang, Q. Z. Zou and S. Devasia, “A review of feedforward control approaches in nanopositioning for high-speed SPM,” ASME, vol. 131, Nov, 2009.
[14]程世偉，「撓性主動微軸承系統之設計與測試」，國立成功大學機械工程學系碩士論文，中華民國八十八年。
[15]I. Emri and M. Gergesova, “Time-dependent behavior of solid polymers,” EOLSS, 251-255, 2010.
[16]M. Di Paola, A. Pirrotta and A. Valenza, “Visco-elastic behavior through fractional calculus: An easier method for best fitting experimental results,” Mechanics of Materials, vol. 43, pp.799-806, 2011.
[17]C. Chi and F. Gao, “Simulating fractional derivatives using MATLAB,” Journal of Software, vol. 8, no. 3, March 2013.
[18]D. Gorinevsky, “Model identification,” Standford university, 2002-2003.
[19]S. Nagarajaiah, “System identification,” RICE university, 2009.
[20]A. Germant, “A method of analyzing experimental results obtained from elasto-viscous bodies,” Phys. 7, pp.311-317, 1936.
[21]C. A. Monje, Y. Q. Chen, B. M. Vinagre, D. Y. Xue and V. Feliu, “Fractional-order systems and controls,” Springer, New York, pp.221-223, 2010.
[22]R. J. Chang, “Cyclostationary Gaussian linearization for analyzing nonlinear system response under sinusoidal signal and white noise excitation,” International Journal of Mechanical, Aerospace, Industrial and Mechatronics Engineering, vol.9, no.5, 2015.
[23]C. A. Monje, Y. Q. Chen, B. M. Vinagre, D. Y. Xue and V. Feliu, “Fractional-order systems and controls,” Springer, New York, pp.19-22, 2010.
[24]I. Podlubny, “Fractional-order systems and fractional-order controllers,” Slovak academy of sciences institutive of experimental physics, 1994.