本論文提出類PID速度控制器(PID-like Velocity Controller)實現於鑽骨控制系統，不同於傳統強健設計方法得到的高階控制器，此設計架構可直接求解得到PID控制器的常數值增益。為了解決感測器雜訊問題，使用速度型Luenberger觀測器(Speed Luenberger Observer)，以降低因雜訊靈敏度所造成的電壓波動問題，亦藉由強健設計方法得到純常數之補償器增益。此外，為了判斷鑽孔穿透時機與降低穿透誤判，本論文於速度命令中加入一特定頻率之弦波訊號，使馬達同時具有直流與特定頻率弦波之特徵訊號，並結合希爾伯特-黃轉換(Hilbert Huang Transform, HHT)與單頻傳感矩陣(Transduction Matrix)，分別求得兩頻率之等效機械阻抗，用於判斷鑽孔穿透時機。藉由模擬與實驗結果驗證本論文所提的HHT算法，於阻抗量測應用上能有效判斷鑽穿時機。

This thesis presents a PID-like velocity controller implemented in bone drilling control system, which is different from the high-order dynamic controller designed with the traditional robust control methods, but enables the retrieve the constant gains of the controller at once via robust design methods. In order to eliminate sensor noises, a speed Luenberger observer is proposed to reduce voltage variation resulted from noise sensitivity and obtain the constant gains of the compensator. Moreover, to determine the moment of breakthrough and prevent the deviation of drilling, a specific frequency sinusoidal signal is added to the velocity command. Thus, the motor can have the characteristic signals which combined the DC and specific frequency sinusoidal signals; further, combining Hilbert Huang Transform (HHT) with single-frequency transduction matrix, the equivalent mechanical impedances of two frequencies are obtained and provided for breakthrough detection. Compared the results of the simulation and experiment, the feasibility of the proposed HHT-based impedance measurement is verified to detect breakthrough point.

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