運動控制系統在工業界上的應用非常的廣泛，一般來說數位控制器包含許多的部份，除了控制IC外，還需要有馬達驅動電路、回授解碼電路、周邊I/O電路及控制軟體等等整合而成，這會使得控制器較不易使用也較為昂貴。近年來，半導體產業發展迅速，因此以SOPC為目標的設計方式也相應而生，且逐漸的成為數位電路設計的主流方式。本論文之目的為使用SOPC嵌入式發展模組來實現XY平台之運動控制器。主要的特色為將編碼器回授電路、速度估測、位置控制、與路徑規畫等功能均利用單一之SOPC系統實現。本論文針對速度估測方法進行探討，控制法則採用位置速度雙重回授方式並使用NURBS命令插值器以改善定位之速度及精度，最後經由模擬及實驗結果來驗證所設計之控制器確實能使XY平台在穩定的情況下並達到精密的定位控制效果。

The application of motion control system on the industrial area is very extensive. However, the prices of controllers become dramatically high because of their expensive and versatile components. In recent years, semiconductor industry is progressing rapidly, so the design method of SOPC arises and become a main method for digital circuit design. In this thesis, the objective is to realize the motion controller of an X-Y table by using an SOPC embedded system in which functions such as decoder, velocity estimation, position control, and trajectory generation and integrated in one embedded platform. The paper analyzes velocity estimation methods and implements them on an SOPC system. Moreover, multi-loop controller and NURBS interpolator are designed to improve the precision of tracking error. Finally, through simulation and experiment, these controllers are evaluated and examined in an X-Y table.

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