本研究是發展一組具有雙步進馬達的同步系統。本系統可在訊號量測具有雜訊與不確定性的環境下運作，使兩步進馬達達到頻率追蹤與相位鎖定之同步運動。本研究設計了由光遮斷器與帶有鏤空溝槽之圓盤所組成的編碼器作為感測系統，將馬達的轉動轉換為連續的脈波輸出。根據過濾與計算編碼器回傳之脈波訊號，單晶片微處理器可估測馬達之轉速與相位，並將運算所得之資料傳送給系統控制器。在系統控制器設計上，本研究應用模糊理論結合PID控制方法來產生輸出至追蹤端馬達的控制訊號，並比較電腦模擬及硬體實驗的結果。硬體實驗的結果顯示本系統可成功達成同步追蹤之任務，證明本研究設計之控制器的可行性。測試的案件與控制效益將於論文中展示。

The objective of this study is to develop a synchronization system which includes two stepping motors. This system is capable of synchronizing the two motors under the situation of signal measurement with noise and uncertainty. The sensor system composes of a code disk and an optical sensor designed to convert and measure the rotation of motor into detecting the photo pulses. By calculating the filtered pulse signal, a micro processor is used to estimate the rotation speed and the phase of the motors. Then, the information is transport to the system controller. Fuzzy control coupled with PID feedback control method is applied design to the system controller and to generate the tracking signal for the tracker motor. Computer simulation and hardware experiment of the study are compared. The results show the practicability of the controller, and the test cases included demonstrate the effectiveness of the procedures.

[1] Zedeh, L.A., “Fuzzy sets,” Inform. Control, vol. 8, pp. 338-353, 1965.
[2] Mamdani, E.H. and Assilian, S., “An experiment in linguistic synthesiswith a fuzzy logic controller,” Int. J. Man-Mach. Stud., vol. 7, pp. 1–13, 1975.
[3] Mann, G.K.I., Hu, B., and Gosine, R.G., “Analysis of direct action fuzzy PID controller structures,” IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 29, no. 3, June, 1999.
[4] 楊英魁、孫宗瀛、鄭魁香、林建德，與蔣旭堂編著，“模糊控制理論與技術,” 1996。
[5] Kazemian, H.B., “Developments of fuzzy PID controllers,” Expert Systems, vol. 22, issue 5, pp. 254-264, November, 2005.
[6] Tang, K.S., Man, K.F., Chen, G., and Kwong, S., “An optimal fuzzy PID controller,” IEEE Transactions on Industrial Electronics, vol. 48, issue 4, pp. 757-765, August, 2001.
[7] Peng, X.T., and Liu, S.M., “Self-regulating PID controllers and its applications to a temperature controlling process,” Fuzzy Computing, pp. 355-363, 1988.
[8] Chao, C.S., Wu, T. Z., and Juang, Y.T., “ Weighted Fuzzy-PID Controllers,” Proceeding of 2004 Automatic Control Conference, Chung-Li, Taiwan, 2004.
[9] Lei, S.Y., and Joo, E.M., “Hybrid fuzzy control of robotics systems,” IEEE Transactions on Fuzzy Systems, vol. 12, issue 6, pp. 755-765, December, 2004.
[10] Malki, H.A., Misir, D., Feigenspan, D., and Chen, G., “Fuzzy PID control of a flexible-joint robot arm with uncertainties from time-varying loads,” IEEE Transactions on Control Systems Technology, vol. 5, issue 3, pp. 371-378, May, 1997.
[11] El-Metwally, K.A., “A Fuzzy Logic–Based PID for Power System Stabilization,” Electric Power Components and Systems, vol. 29, issue 7, pp. 659-669, July, 2001.
[12] 廖名揚，“應用即時影像及模糊PID控制自走車於無線攔截任務,”國立成功大學航空太空工程學系碩士論文，2007。
[13] Shi, J., Xu, D., Ling, T., and Wang, Z., “Hybrid stepping motor fuzzy speed servo system based on DSP,” Power Electronics and Motion Control Conference, 2000. Proceedings. IPEMC 2000. The Third International, vol. 2, pp. 838 – 842, August, 2000.
[14] Shannon, T.T., and Lendaris, G.G., “Adaptive critic based design of a fuzzy motor speed controller,” Proceedings of the 2001 IEEE International Symposium on Intelligent Control, pp. 359-363, September, 2001.
[15] Melin*, P., and Castillo, O., “Intelligent control of a stepping motor drive using and adaptive neuro-fuzzy inference system,” Information Sciences 170, pp. 133-151, 2005.
[16] Ghafari, A.S., and Alasty, A., “Design and real-time experimental implementation of gain scheduling PID fuzzy controller for hybrid stepper motor in micro-step operation,” 2004. ICM apos; 04. Proceedings of the IEEE International Conference on Mechatronics, vol. 3, issue 5, pp. 421-426, June, 2004.
[17] Ren, H., and Liu, Ding., “A novel digital position servo system using DSP and fuzzy PID,” Proceedings of the Fifth International Conference on Electrical Machines and Systems, 2001, vol. 2, pp. 722-725, August, 2001.
[18] SZASZ C., “Fuzzy Strategy-based Position Control of Field-oriented PM-hybrid Stepping Motor,” Fuzzy Systems Conference, 2007. FUZZ-IEEE 2007. IEEE International 23-26 July 2007, pp. 1~5, 2007.
[19] Shi, J., Xu, D., and Wang, Z., “Hybrid stepping motor fuzzy position servo system based on DSP,” Industrial Electronics Society, 2000. IECON 2000. 26th Annual Conference of the IEEE, vol. 2, pp. 1475-1479, October, 2000.