有鑑於引伸工藝日漸進步，能夠因應不同材料與加工曲線的伺服模墊已被廣泛應用於伺服沖床系統，如何適當地設計伺服模墊控制策略對於產業上來說已是核心的關鍵技術。因此，本研究提出利用雙向控制架構，藉由給予虛擬端模型力量命令，使得實際端伺服模墊能夠複製其運動行為，達到伺服模墊關鍵的壓板力控制。另外，本研究整合並聯同動控制與混合切換策略於雙向控制架構中，實現伺服模墊的預加速功能並保持壓板力控制於最佳響應區間。於此同時，因應工具機產業智慧化，本研究導入具數位孿生概念的等效模型修正架構，使得虛擬端等效模型能夠更貼近實際端系統，提升整體架構控制性能。透過建立伺服沖床與模墊系統實驗平台，藉由力量感測器與串聯彈性制動器的特性，設計並驗證雙向控制架構於伺服模墊系統的可行性。

Servo die cushion system, which can adapt different materials and processing conditions has been widely used in the field of metal drawing; therefore, design a proper control strategy for serve die cushion system is important for industrial technologies’ development. This study proposes a new control structure for servo die cushion system through applied bilateral control. Since traditional bilateral controls can’t be implemented in all functions of servo die cushion system, hybrid switching strategy is used to connect two tasks: position control and force control. Moreover, since models built from system identifications exist modeling errors, digital twin-based equivalent model compensator is utilized to compensate position errors between real system and virtual model. For increasing the computation speed, multi-rate design method is proposed in this study. The bandwidth of compensator can be increase individually through multi-rate design method. Lastly, an experiment platform is built to demonstrate servo die cushion’ motion. The control strategies mentioned above will be verified through the experiment results.

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