本文以「光機電系統控制研究室」研究多年的微夾持系統為基礎，針對SMA致動器量測FOD曲線建立遲滯模型，量測時間常數建立其一階動態轉移函數及量測延遲時間，並設計模糊控制器搭配PI控制器，透過RES演算法完成微夾持器的開口大小量測及微力量感測器之角度估測，達到影像閉迴路控制及夾持力的監控。

This thesis is based on the research of micro-gripping system by “OME System Lab” in recent years. For modeling a SMA actuator, the present approach is to measure FOD curve establishing hysteresis model, measure time constant to establish first-order transfer function, and measure delay time. Designing a fuzzy controller with PI control and using a RES algorithm to complete estimating the tip opening of micro-gripper and the angle of force sensor, image-based closed-loop control with gripping force monitoring can be achieved.

參考文獻
[1] D. Reynaerts and H. V. Brussel, “Design Aspect of Shape Memory Actuators,” Mechatronics, 1998.
[2] T. Hasegawa and S. Majima, “A Control System to Compensate the Hysteresis by Preisach Model on SMA Actuator,” IEEE International Symposium on Micromechatronics and Human Science, 1998.
[3] I. Mihalcz, “Fundamental Characteristics and Design Method for Nickle-Titaum Shape Memory Alloy,” Perodica Polytypechina Ser. Mech. ENG., 2000.
[4] S. Majima, K. Kodama and T. Hasegawa, “Modeling of Shape Memory Alloy Actuator and Tracking Control System with the Model,” IEEE Transactions on Control Systems Technology, Vol. 9, NO. 1, 2001.
[5] N. Ma, G. Song and H-J Lee, “Position control of shape memory alloy actuators with internal electrical resistance feedback using neural networks,” Smart Mater. Struct., 2004.
[6] S. M. Dutta, F. H. Ghorbel and J. B. Dabney,” Modeling and Control of a Shape Memory Alloy Actuator,” IEEE International Symposium on Intelligent Control Limassol, 2005.
[7] K. K. Ahn and B. K. Nguyen, “Position Control of Shape Memory Alloys Actuators Using Self Tuning Fuzzy PID Controller,” International Journal of Control, Automation, and System, Vol. 4, no.6, pp. 756-762, 2006.
[8] N. Bizdoaca, H. Hamdan and D. Selisteanu, ”Fuzzy Logic Controller for a Shape Memory Alloy Tentacle Robotic Structure,” Proceedings of the IEEE Conference on Information & Commuation Technologies: from Theory to Applications, pp. 24-28, 2006.
[9] C. H. Joshi, “Shape Memory Alloys, New materials,” pp. 26-72, 1992.
[10] K. Tanaka, “A Thermomechanical Sketch of Shape Memory Effect: One-Dimensional Tensile Behavior,” Res Mechanica, Vol. 18, no. 3, pp. 251-263, 1986.
[11] L. C. Brinson, “One-Dimensional Constitutive Behavior of Shape Memory
Alloys: Thermomechanical Derivation with Non-Constant Material Functions and Redefined Martensite Internal Variable,” Journal of Intelligent Material Systems and Structure, Vol. 4, 1993.
[12] 顧鴻壽等，“形狀記憶合金講習會”，工業技術研究院工業材料研究所，中華民國七十七年十月。
[13] 舟久保 熙康，“形狀記憶合金”，復漢出版社，1999。
[14] 廖南吉，“形狀記憶合金與用途”，南臺出版社，1988。
[15] 任勇生，王世文，李俊寶，沈應鵬，“形狀記憶合金在結構主被動震動控制中的應用”，力學進展，Vol 29，pp. 19-33，1999。
[16] J. L. Pons, D. Reynaerts, J. Peirs, R. Ceres, and H. VanBrussel, “Comparison of Different Control Approaches to Drive SMA Actuators,” ICAR’97, pp. 819-824.
[17] Koji Ikuta, “Mathematical Model And Experimental Verification of Shape Memory Alloy for Design Micro Actuator,” IEEE, pp103-108, 1991.
[18] Daniel R. Madill, “Modeling and L2-Stability of a Shape Memory Alloy
Position Control System,”IEEE Transaction on Control System Technology, Vol.6, pp.473-481, 1998.
[19] K. Ikuta, “Mathematical Model And Experimental Verification of Shape
Memory Alloy for Design Micro Actuator,” IEEE, pp103-108, 1991.
[20] D. R. Madill, “Modeling and L2-Stability of a Shape Memory Alloy
Position Control System,” IEEE Transaction on Control System Technology,
Vol.6, pp.473-481, 1998.
[21] R. B. Gorbet, “Preisach Model Identification of a Two-Wire SMA Actuator,” IEEE International Conference on Robotics and Automation, pp.2161-2167, 1998.
[22] P. Ge, M. Jouaneh, “Tracking Control of a Piezoceramic Actuator,” IEEE Transaction on Control System Technology, Vol.4, pp. 209-216, May1996.
[23] 机啟成，「形狀記憶合金驅動生醫用高分子微夾持系統之發展」，國
立成功大學機械工程學系碩士論文，中華民國九十三年六月。
[24] 施博偉，「形狀記憶合金驅動微夾持器之應用」，國立成功大學機械
工程學系碩士論文，中華民國九十四年七月。
[25] 鄭志羿，「微夾持器力量控制之發展」，國立成功大學機械工程學系
碩士論文，中華民國九十五年六月。
[26] S. Maeda, k. Minami, M. Esashi, “Excimer laser induced CVD and its application to selective non-planar metalIization,” J. Micromech. Microeng,Vol. 5, pp. 237-242, 1995.
[27] J. M. Paros, “How to Design Flexure Hinges,” Machine design, vol.36,
pp151-156, 1965.
[28] 程永華，「壓電致動微型撓性挾持器之設計、製造與控制」，國立成
功大學機械工程學系碩士論文，中華民國八十八年六月。
[29] 陳慶昌，「影像自動化微組裝工廠之發展」，國立成功大學機械工程
學系碩士論文，頁次：38-41，中華民國九十四年六月。
[30] S. Tzafestas and N. P. Papanikolopoulos, “Incremental fuzzy expert
PID control,”IEEE Transactions on Industrial Electronics, Vol. 37,
no. 5, pp. 365-371, 1990.