ㄧ般而言，摩擦力在精密的伺服運動控制中往往扮演著關鍵的角色，尤其當受控系統進行低速運動或是反轉運動時，常因受到摩擦力的影響而產生滯滑現象，影響運動精度。另一方面，負載轉矩以及系統模型之不確定性，亦為低速下影響控制性能的外在干擾源。因此若能夠補償摩擦力與外部干擾之影響，不但可提升運動控制系統的效能，更能降低控制迴路設計的難易度。有鑒於此，本論文之主要目的在於建立一摩擦力模型，運用前饋補償之方式解決所遭遇的摩擦力問題，並搭配本論文所提出之虛擬模型干擾補償器架構(VPDC)，以消除系統其餘之干擾源所造成之影響。最後透過實驗所得之數據，分析探討各種補償架構之間的性能差異，藉以驗證虛擬模型干擾補償器架構確實能夠提供最佳的控制效果。而有鑒於本論文所提方法須以受控體虛擬模型來設計干擾補償器，因此本論文也介紹了兩種不同的系統鑑別方法，並說明兩者均能有效地鑑別出系統參數。

Generally speaking, friction force plays an important role in most of precision motion control systems. In particular, when the system under control undergoes low speed or reversal motions, it will result in stick-slip phenomenon due to friction force. On the other hand, the load torque and modeling uncertainty are also the reasons that can lead to poor performance when system is in low speed. Consequently, the compensations of friction force and disturbance can not only improve the system performance, but also reduce the complexity of control-loop structure design. Hence, in order to deal with the problems due to friction force and external disturbances, the major objective of this thesis is to establish a friction model and employ a virtual plant disturbance compensator (VPDC). Several experiments have been performed to compare the performance of different compensation structure. Experimental results indicate that the proposed virtual plant disturbance compensator provides the best performance. In addition, this thesis also introduces two different identification methods, in which both can be applied to design disturbance compensators.

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