本文基於SERCOS III網路式控制系統，並運用具機構耦合之四軸同動伺服平台以提高系統輸出能力，建置一即時閉迴路之不規則波造波機。藉此，海洋工程、船舶測試、甚至是波浪發電等相關研究，可免去進行現地實驗之人力、物力、資源與時間。因此，不規則波造波機之建置有其重要性。

本文首先利用適合發展大型自動化設備之SERCOS III通訊控制網路，透過Real-Time eXtension (RTX)與Windows作業系統連結，建構一強即時網路控制系統，提高系統之整合性與效能。在四軸同動控制方面，本文將各軸耦合效應視為補償力，推導並鑑別出具機構耦合之四軸數學模型。此外，本文將造波時水所造成之負載視為外擾，針對整體系統進行一伺服迴路控制器設計，降低位置追蹤誤差以及同動誤差，以提高造波精度。

本文採線性造波理論，將規則波與不規則波轉換成衝程訊號，視其為整體系統之位置命令，送入多軸同動控制系統，推動造波板進行造波運動。最後，分析波高計回授之水位，利用一波浪控制器補償波高誤差，完成一具波浪迴路之三層控制迴路不規則造波系統。

This thesis develops an irregular wave maker which is jointly driven by four ball screw/servomotor units based on the real-time network control system. The irregular wave maker can offer laboratory-scale tests for studies of ocean engineering, naval architecture or even marine energy, such as wave energy conversion. This accounts for its importance.

This thesis employs SERCOS III and Windows-based Real-Time eXtension (RTX) to develop the control system so that the performance can be enhanced. Then, the so-called position/thrust hybrid synchronous control structure is developed for the four servo units to achieve good tracking ability and improve synchronization between these servo units. Finally, a triple-layer control system which includes the water elevation feedback signals is designed to make accurate waves. The experimental results demonstrate the effectiveness of the proposed wave maker control system

[1] 林佳慶，基於阻抗控制之造波負載模擬平台之研製，國立成功大學系統及船舶機電工程學系碩士論文，2011。
[2] 江瑞民，以SERCOS網路為基礎之多軸控制系統的規劃與分析，國立交通大學控制工程研究所碩士論文，1992。
[3] 汪佐霖，具SERCOS介面之伺服系統設計，國立臺灣大學機械工程學研究所碩士論文，2000。
[4] 陳柏菁，以即時網路為基礎的運動控制技術之研究，國立交通大學電機與控制工程系碩士論文，1998。
[5] 謝政昌，高性能即時網路運動控制器之研製，國立交通大學電機與控制工程系碩士論文， 1999。
[6] E. Schemm, "SERCOS to link with ethernet for its third generation," International Journal of Computing and Control Engineering, vol. 15, pp. 30 - 33, 2004.
[7] 賴康裕，多軸伺服平台即時網路控制系統之建置，國立成功大學系統及船舶機電工程學系碩士論文，2010。
[8] R. D. Lorenz and P. B. Schmidt, "Synchronized motion control for process automation," Proceedings of the 1989 IEEE Industry Applications Annual Meeting, pp. 1693-1698 vol. 2, 1989.
[9] L. Feng, Y. Koren, J. Borensten, "Cross-coupling motion controller for mobile robots," Control Systems Magazine, IEEE, vol. 13, pp. 35-43, 1993.
[10] FANUC, "Parameter Manual of a-series AC Servo Motor," FANUC, 1994.
[11] SIEMENS, "840D/FM-NC Description of Functions," Special Functions (Part 3), SIEMENS, 1999.
[12] 楊君賢，具機構耦合之雙線性伺服系統鑑別與控制， 國立成功大學機械工程學系碩士論文，2003。
[13] 吳孟杰，線性伺服系統同動控制之研究，國立成功大學系統及船舶機電工程學系碩士論文，2005。
[14] 江嘉榮，具機構耦合之雙平行螺桿平台控制系統設計，國立成功大學系統及船舶機電工程學系碩士論文，2006。
[15] 王盛篁，線型馬達同動技術於全電式射出成型機之應用，國立成功大學系統及船舶機電工程學系碩士論文， 2007。
[16] 許均豪，三軸機構耦合螺桿系統之建模與控制，國立成功大學系統及船舶機電工程學系碩士論文， 2009。
[17] S. K. Jeong and S. S. You, "Precise position synchronous control of multi-axis servo system," Mechatronics, vol. 18, pp. 129-140, 2008.
[18] T. H. Havelock, "Forced surface-waves on water," Philosophical, Magazine Series 7(1926-1955), vol. 8, pp. 569-576, 1929.
[19] R. G. Dean and R. A. Dalrymple, "Water wave mechanics for engineers and scientists," World Scientific Pub Co Inc., vol. 2,1991.
[20] J. Fenton and W. McKee, "On calculating the lengths of water waves," International Journal of Coastal Engineering, vol. 14, pp. 499-513, 1990.
[21] J. Taylor, M. Rea and D.J. Rogers, "The Edinburgh curved tank," Proc 5th Eur Wave Energy Conf. Cork, Ireland, pp. 307-314, 2003.
[22] M. Li, "An optimal controller of an irregular wave maker," International Journal of Applied Mathematical Modelling, vol. 29, pp. 55-63, 2005.
[23] I. Miskovic, Z. Eskinja and K. Horvat, "Wavemaker control system for irregular developed sea waves generation," Proceedings of the16th Mediterranean Conference on Control and Automation, pp. 791-794, 2008.
[24] M. J. Ketabdari and A. Ranginkaman, "Simulation of random irregular sea waves for numerical and physical models using digital filters," International Journal of Scientia Iranica Transaction B: Mechanical Engineering, vol. 16, pp. 240-247, 2009.
[25] 陳建勳，造波機不規則波控制之研究，國立成功大學造船及船舶機械工程學系碩士論文，2000。
[26] 黃彥融，自調整模糊控制應用於造波機之研究，國立成功大學造船及船舶機械工程學系碩士論文， 2001。
[27] 王舜民，造波機人機介面與系統整合之研究，國立成功大學系統及船舶機電工程學系碩士論文， 2006。
[28] 郭一羽、湯麟武，海岸工程學，文山出版社，2001。
[29] 沈茂霖，不規則波與離岸潛沒結構物交互作用之模擬，國立成功大學水利及海洋工程學系碩博士班博士論文，2008。
[30] IEC, "International Standard 61491," IEC, 2002.
[31] IntervalZero, "Hard Real-Time with IntervalZero RTX on the Windows Platform," IntervalZero, 2010.
[32] IGS e.V., "White Paper SERCOS-III V1.2," IGS/BRC, 2004.
[33] SERCOS International e.V., "SERCOS III Universal Real-Time Communication with Ethernet," SERCOS International e.V, 2007.
[34] STMicroelectronics, "32-bit embedded SuperH Device," STMicroelectronics, 2005.
[35] Bosch Rexroth, "Rexroth Inline Block IO for SERCOS III With Analog Inputs and Outputs," Bosch Rexroth, 2007.
[36] M. Jang, K. C. Lin and C. L. Chen, "Modeling and positioning control of a ball screw driven stage," Proceedings of Conference on IEEE Networking Sensing and Control Onternational, vol. 2, pp. 943-948, 2004.
[37] M. S. Kim and S. C. Chung, "A systematic approach to design high-performance feed drive systems," International Journal of Machine Tools and Manufacture, vol. 45, pp. 1421-1435, 2005.
[38] G. Ellis, "PDFF: An evaluation of a velocity loop control method," PCIM-Europe, pp. 49-54, 1999.
[39] G. H. Ellis, "Control system design guide: a practical guide," Academic Press, 2004.
[40] 蔡明祺，吳楷聲, 伺服控制系統之實務參數設計, presented at the 中國機械工程學會第19屆全國學術研討會, 2002.
[41] 維基百科，快速排序， http://zh.wikipedia.org/, 2012.