雙曲柄連桿機構，由於左右對稱的特性，使沖床水平方向慣性力自然平衡，且徑向摩擦力較小。本研究應用雙顆伺服馬達為動力源驅動雙曲柄連桿機構為分析對象，首先針對馬達轉動角度與曲柄連桿角度關係、機構動態情形、馬達轉動角度不相等問題進行分析。

本研究無論機構之各種分析，均與馬達轉角有極大關係，因此在單軸控制法則參數設計對馬達轉角有準確的控制。因此於速度迴路加入PDFF控制器，提升速度迴路響應能力，及系統穩定性；位置迴路加入比例增益控制器及速度前饋控制器，增加單軸追蹤能力及響應速度提升。最後加入交叉耦和控制，使雙軸動態相互影響情形得到大幅改善並使同動誤差及衝程位移誤差縮小，完成精度高之伺服同動控制設計架構。最後為了能使衝程位移有更精準的回傳值，加入光學尺來偵測結果，使衝頭回傳訊息更精準達到動態調整的目的與分析，使回傳訊號有更準確的參考值，驗證高精度衝程曲線。利用模擬及試驗來驗證結果，實驗架構以PC-based為控制平台，實現沖床機構同動控制及高衝程位移。

The single crank and connecting rod mechanism in the punching processing by the slider force of friction and shear stress affect the dynamic accuracy.The two crank-slider mechanism has a symmetrical characteristic.When the high-speed operation, the horizontal inertia force will be balanced,so the servo press has no radial friction.In this study, Application of two AC servomotors when power input to drive timing belt drive two crank-slider mechanism is analyzed.First, we want to analyze the relationship between the motor rotation angle and crank angle, dynamic analysis of the mechanism, and two motors of Unbalanced rotation angle. We Add PDFF controller in speed loop to enhance the response capability, and system stability;In position feedforward loop,we add the proportional gain controller and speed controller to increase tracking capability and enhance the speed of response.Finally, we add the cross-coupled control . It can improve the biaxial dynamic impact situations, as well as reduce the synchronization error and stroke displacement error. In this study, we have completed a high-precision servo with dynamic control design.

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