近年來，加工機之性能及控制發展趨勢，除著重高速及高精度的加工能力外，機台之結構剛性亦影響整體加工品質，故現今加工機在驅動軸上逐漸採用雙平行馬達驅動之結構設計，如箱體(Box-in-box)與龍門式(Gantry type)等，以增加機台整體結構剛性。此外，某些特殊應用場合，例如海洋工程或造船工程所使用的大型造波機，需由多組馬達同時推動以進行造波。由於在上述之架構下，兩組或多組馬達及螺桿間具有機構耦合，若兩組馬達作動過程間存在顯著的同動誤差，不僅使機械構造易產生變形，亦會大幅降低系統運動性能。因此如何在高速度及高精度考量下，實現具機構耦合之同動控制，便成為此系統架構之主要關鍵技術之ㄧ。
本研究主要以具機構耦合之雙平行螺桿系統為對象，提出一適當之系統鑑別技術，量測出在機構耦合下之整體受控系統數學模型，並進一步設計相關控制器參數，建構一同動控制架構及迴路控制器設計流程，以改善系統追蹤誤差及同動誤差。本研究藉由Matlab軟體模擬與雙平行螺桿平台的實機測試，除了驗證系統鑑別技術的準確度外，其結果亦證明本研究所發展的控制法則，可明顯改善雙螺桿系統的同動控制性能。

In recent years, the development trend of machine tools is toward high speed and high accuracy machining capability. However, the mechanism rigidity also influences the machining quality. In order to improve the entire structure rigidity of machine tools, the ‘Box-in-Box’ and ‘Gantry-type’ structures are more and more widely adopted. Also, in some applications, such as wave makers for naval and oceanic engineering, multi motors/ball screws can be applied to jointly drive the system. Such
a system contains two or more parallel motors/ball screws which are mechanically coupled. The coupling may be deformed and systematic performance can be reduced if a significant synchronization error exists.
Therefore, to achieve synchronous motion control with mechanical coupling is critical under high speed and high accuracy operation.

This thesis focuses on the control design of a single-axis-motion stage driven by two parallel ball screws with mechanical coupling. A novel system identification method is employed to determine the dynamic model of the entire controlled system and for design of controlled parameters. Some synchronous control schemes are employed to improve tracking error and synchronization error. The designed system is simulated using Matlab and experiments are carried and compared. The simulation and experimental results verify the exactness of the proposed system identification and the feasibility of the design control scheme.

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