在捲繞製程中，影響加工品質關鍵因素之一是穩定之軟性基材張力，因此發展捲繞製程設備時，設計良好之張力控制及傳輸線速度控制系統極為重要。捲繞系統在運作過程中，受到之擾動量包含難以鑑別之系統參數所造成之內部擾動以及在運轉過程中無法預期之外部擾動。欲改善捲繞系統之控制性能，本論文所採用之自抗擾控制架構係一種能夠主動消除外擾，將複雜的控制問題藉由尋找輸入、輸出的關係，來估測系統的總擾動量進而即時補償之控制架構。本論文使用改良非線性函數來構建改良非線性狀態回授控制器以提升自抗擾控制架構於捲繞系統性能改善之能力；本論文將自抗擾控制架構實現於一捲繞系統上，分別對放捲端以及收捲端伺服馬達進行線速度控制以及張力控制。本論文使用之自抗擾控制架構採用了線性以及非線性擴張狀態觀測器來分別估測控制器所需之系統狀態變數值以及捲繞系統在運作時所遭遇之總擾動量；由於線性與非線性擴張狀態觀測器之設計難度並不相同，進一步透過實驗來闡明兩者控制性能，實驗結果顯示線性與非線性擴張狀態觀測器兩者對於總擾動量之確實有抑制能力，皆利於捲繞製程使用。

In the roll to roll system, the stable tension on the material is the key factor influencing the processing quality. Therefore, the well-designed tension control and the line-speed control system are extremely important in developing the winding-type process equipment. During the operation of the winding system, the total disturbances including the internal disturbances caused by the difficulty of identifying system parameters and the external disturbances that could not be expected in processing can deteriorate system performance. The thesis uses the method based on the Active Disturbance Rejection Control (ADRC), which is a kind of control structure to actively eliminate the total disturbances and solve the complex control problem by finding the relationship between system output and input. Moreover, the nonlinear function is used to construct an improved nonlinear state feedback controller to enhance the control performance of the ADRC for the roll to roll system. We implement the ADRC in a roll to roll system and use the control structure to do the line-speed control and tension control. By using two different types of extended state observer (ESO), we can reasonably estimate the state required for control and the total disturbance. Because the difficulty to design the different type of extended state observer is not the same, we implement both of them in our roll to roll equipment. The experimental results show that both of them have the ability to suppress the total disturbances, which is beneficial to the roll to roll system. In other words, it can save the cost of building the control system and easily extend to large-scale winding equipment.

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