本論文為了改善傳統類比控制系統在建置大型控制系統時，往往會因為接線過於複雜而難以維護，且因為類比電訊容易受環境雜訊之干擾，而容易造成系統精度不如預期。為解決上述問題本論文研製了一個具備工業乙太網路為基礎的即時多軸運動控制系統，以PC為控制核心，並且利用RTX即時多工核心程式來達成Windows下即時運算的目標，並且選用具開放式的網路通訊協定 - SERCOS III，建置出一套以PC-Based控制為基礎的即時網路控制系統，相較於傳統類比控制系統，本系統僅需一條標準Cat.5e的網路線即可以串聯位於網路上所有的裝置，大幅度簡化接線及維護的難度，此外由於系統為全數位的系統，因此訊號在傳輸及接收時都會經過嚴謹的電訊架構及訊號之編解碼，因此幾乎不受環境雜訊的干擾。
為驗證本研究所建置的即時網路控制系統，將應用多軸具機構耦合的伺服平台來進行驗證，並且建立一套適用於即時網路控制系統下的鑑別方法，找出實際物理系統的近似數學模型，加以進一步分析與討論，最後作為控制器之設計及系統模擬之用，並實際運用於伺服平台上。
最後，本論文成功建置了即時網路控制系統，並實際應用多軸具機構耦合之伺服平台進行驗證，結果顯示透過本文所建置的系統，除了可以達到傳統類比系統可以達到的系統精度外，亦改善了諸多類比系統的缺點，研究結果不論對於台灣發展自主工業網路控制系統或是對於將應用於極端場合之系統將有所幫助。

This thesis aims at improving the following shortcomings for the conventional analog system when building large control systems. First, it is hard to maintain because of the complicated wiring. Moreover, the accuracy of the system is lower than expected because the simulated telegram is easy to be interfered by the environmental noise. To fix the mentioned issues, this thesis develops a real-time multi-axis motion control system based on the industrial Ethernet network. Taking PC as the control core, it uses RTX real-time multi-tasks kernel program to achieve the goal of real-time calculation under Windows. Moreover, it selects SERCOS III, an open network communication protocol, to build a set of real-time network-based control system based on PC control. Compared with the conventional analog control system, this one just needs a standard Cat 5e cable to connect all devices on the network in series, making the wiring and maintenance much easier. Additionally, with the fully digitized system, it will go through precise telegram structure and compiling code for signal transmission and receipt. Thus, it is hardly to be interfered by the environmental noise.
To verify the real-time control system developed in this thesis, it adopts servo platform of multi-axis coupling mechanism, and builds a set of system identification methods applicable to real-time control system to work out the proximate mathematic model of practical physical system for further analysis and discussion, which is finally used for the design and system simulation of the controllers, and applied onto the servo platform practically.
Finally, this thesis develops the real-time network-based control system successfully, which is practically applied to the servo platform of multi-axis coupling mechanism for verification. The results show that the system developed in this thesis, apart from achieving the system accuracy of the conventional analog system, improves the shortcomings of many other analog systems. These findings are helpful for the development of the autonomous industrial network-based control systems and the systems applying in the extreme occasions in Taiwan.

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