在運動控制系統中為了改善定位效果，常採用位置與速度雙重回授的方式。光學增量型編碼器常被用來量測位置，並利用位置量測量估算出速度，以達到運動控制目的。但由於編碼器輸出訊號的物理誤差、量化誤差及非同步量測等因素影響，會惡化速度估測之精度，進而影響定位效果。因此本論文針對位置與速度估測進行探討，並提出一種結合多項式近似的速度估測法則，以期獲得更精準的速度估測。本論文使用SOPC嵌入式模組來實現運動控制器，將編碼器回授電路、位置估測、速度估測、位置控制等軟硬體功能整合在一個SOPC系統上實現。最後透過模擬與實驗驗證所提出的方法，並說明此方法的優點。

In order to improve the tracking performance, many motion control system have utilized the measurements of position and speed for feedback control. Optical incremental encoders are popular for position measurement, and velocity can be estimated from the position measurement for motion control. However, the encoder position measurements suffer from encoder imperfections, quantization errors and measurement uncertainties, leading to inaccurate velocity estimate and tracking error. The paper analyzes the position and velocity estimation problem. A method which is based on polynomial fit, is proposed to obtain more accurate velocity estimate. In this thesis, motion controller is realized by using SOPC embedded system in which functions such as decoder, position estimation, velocity estimation, and position control are implemented in one embedded platform. Finally, the proposed method are examined through simulation and experiment, and the advantage of the proposed method are illustrated.

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