隨著工具機對於切削精度與加工速度的要求越來越高，所以其控制器本身亦需具有極佳之定位與追蹤性能。因此，本論文使用一控制系統架構來探討工具機的定位與追蹤之相關性能。

　　本論文所研究之控制架構使用了迴授控制器與前饋控制器。迴授控制器採用一干擾觀察器來抑制系統本身的非線性現象及外來的干擾，且使用一PD控制器加強系統暫態響應，抑制系統過超量，提高系統的相對穩定度。而前饋控制器，則應用零相位誤差追蹤控制器(Zero phase error tracking controller)來改善系統的相位落後(Phase lag)現象，並且使用前饋摩擦補償器來補償摩擦造成的誤差。

　　最後，本研究以產業界廠商所生產之TMV-760/1100HSC模具切削工具機作為研究平台，藉以探討此控制架構中各個控制器增益對系統效能的助益程度，並以軟體模擬驗證此控制架構之強健性。

　　The demand for precision and speed of machine tools is getting higher and higher. Therefore, it is necessary to have a servomechanism with an outstanding positioning and tracking function. This research uses a controller architecture to study how is the performance of positioning and tracking function. This research uses a controller architecture to study how is the performance of positioning and tracking error of the machine tool.

　　In the controller architecture, a feedback　controller and a feedforward controller are integrated and used; where the feedback controller adopts a disturbance observer to reject the nonlinear phenomenon and external disturbance of the system and a PD controller to enhance the transient response and to reduce the overshoot of the system and assure the stability of the system; and the feedforward controller applies a zero phase error tracking controller to improve the phase lag phenomenon of the system and uses a feedforward friction compensator to compensate the error caused by the friction.

　　The last, this research bases on a mold cutting machine tool, Model TMV-760/1100HSC provided by a certain company as a plant to study the control architecture. In the aforementioned control architecture explored by this research, each controller tends to enhance the system performance and uses software to simulate and verify the foregoing control architecture.

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