本論文針對雙線型平行馬達同步運動控制架構和運動命令規劃，對於同動誤差的差異性進行分析與比較。以PC-based之控制平台實現雙線性同動控制，首先針對單軸伺服迴路，在速度迴路及位置迴路分別加入積分比例控制器和比例控制器，加快系統響應速度，改善線性馬達伺服落後並抑制外部非線性之干擾，提升線性馬達單軸平台定位精度。對於雙軸同動系統中，探討雙軸之間運動所造成之同動誤差(Synchronized Error)，並探討運動命令規劃對於同動誤差的影響。由運動軌跡追蹤誤差分析中，獲得雙軸之同動誤差，並取得交叉耦合控制器之參數，改善平台雙軸同動誤差。將研究之理論實現於龍門型線型馬達機台上，經由實驗結果，可有效抑制同動誤差，達到定位之追蹤控制性能要求。

This thesis analyses and compares several different synchronized controllers and motion command schemes, and implements them by a PC-based controller. First, an integral proportional controller and a proportional controller are applied to the velocity and position loop, respectively, of a single axis servo system, and is named IP position controller. By doing so, the accuracy of the motor is advanced by the fastened response, improved delay, and depressed external non-linear disturbance. Next, for the dual parallel linear motor system, the relation between synchronized error and motion command schemes is considered. The equation of the cross-coupled controller parameters can be acquired by analyzing the tracking error and the synchronized error of the dual linear motors. The equation can be further applied to integrate the synchronized motion and reduce the synchronized error. The above-mentioned theories are applied to the implementation of a gantry-typed linear motor. The experiment result has proved these theories to be successful in reducing synchronized error and realizing the performance demand of tracking control.

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