傳統液壓控制系統大都採用閥控方式，但於閥口將因節流作用產生壓損而降低系統效率；而可變量液壓馬達為一排量控制方式之馬達，無節流口壓損問題，且可根據負荷轉矩改變自身排量而變化輸出轉矩用以抵抗干擾，因此系統效率較高，且具有良好的控制性。
本文將原本無控制裝置用以改變調整液壓缸行程而變量之可變量液壓馬達，改良設計為伺服閥控之可變量液壓馬達，使其可應用於液壓伺服控制，並建構一性能測試台，量測其動態與靜態特性曲線；此後利用改良後的馬達建構一節能之可變量液壓馬達速度及位置控制實驗系統，對此系統採用結合模糊理論與滑動模式控制法則，並具適應機制的自調式模糊滑動模式控制器搭配死區補償器用以補償液壓系統不反應區的特性，利用此控制架構，使系統在固定與變動的負荷下具有穩定且準確的定速、定位性能。
本文將伺服閥控之可變量液壓馬達應用於液壓伺服系統中，其實驗結果顯示所提出之控制架構於固定與變動的負荷之下，都能具有良好的定速、定位效能。

The traditional hydraulic control systems usually adopt valve controlled method but will yield pressure drop at valve orifice to decrease system efficiency . Variable displacement hydraulic motor (VDHM) is a volumetric displacement controlled motor , this motor dosen’t yield pressure drop to decrease system efficiency but change the volumetric displacement for varying the torque output for load torque , for this reason , it has higher system efficiency than valve controlled system and it also has good controllability .
This thesis uses the VDHM without control device for regulation cylinder to vary the angle of swashplate for changing the displacement of VDHM, we redesign it into servo-vavle controlled VDHM such that it can be used in hydraulic sevo control system and we build a test bench to measure the dynamic and static charateristic curve for this element , and then employ this unit which has been modified to build a energy-saving VDHM velocity and position control system ; after that introduce a self-tuning fuzzy sliding mode controller which combining the advantage of fuzzy theory , sliding mode control rule and also adaptable ability be provided , moreover the deadzone compensator is used for compensating deadzone nolinearity in hydraulic system . Use this controller structure for precise and stable velocity , position response under fixed and variable disturbance of load in this system .
This thesis apply servo-valve controlled VDHM for hydraulic sevo control system ; According to exprimental result , the controller structure of this thesis has good response for velocity and position under fixed and variable load torque in this system .

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