近年來，傳統沖壓機台逐漸地往高精度、高效能的趨勢發展，除了伺服沖床外，結合模墊預加速功能之伺服模墊整合系統已漸漸成為發展趨勢。本研究針對伺服模墊系統，提出混合控制設計，達到滑塊機構與模墊機構在接觸前之預加速功能，以及接觸時之接觸力大小控制訴求。本文利用雙向控制架構，當滑塊機構開始運轉時，根據馬達編碼器取得飛輪之轉動角度，在接觸前於虛擬端模墊機構下達位置預加速命令，以及接觸時下達所需之力量命令，並透過力量感測器，將實際端由兩機構對彈簧產生之壓縮力與虛擬端所下達之力量命令進行耦合，並搭配位置/力量架構之調控策略，以驗證雙向混合控制應用於實作系統之可行性。

Recently, traditional stamping machines trend to develop high precision and high efficiency. The die cushion system combined with the pre-acceleration function has become a developmental trend. This study proposes a hybrid control strategy for the servo die cushion system which can not only realize the pre-acceleration function but also control the contact force. In this paper, the control strategy also includes bilateral control. Based on this structure, when the slider machine starts to move, the pre-acceleration command will be given to the virtual part of the cushion system according to the motor encoder before both contacts together. On the other hand, force coupling combines the force command and the compression force caused by both machines to the spring through a force sensor during the contact period. Finally, adding the dynamic switching strategy to the control structure demonstrates the applicability of the hybrid control for the bilateral system.

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