X-Y雙軸運動控制平台系統是一個被廣泛用於工業上的伺服機構，整個系統主要分為機械結構、直流馬達致動器、感測器和控制器部分。機械結構包括有滾珠導螺桿、U型線性滑軌組、線性軸承及可撓性連軸器等；致動器是採用永磁式直流馬達(permanent magnetic direct current motor)；感測器是使用光學式旋轉型編碼器(optical rotary encoder)來量測馬達旋轉的角度；控制器則是以個人電腦為控制核心，搭配運動控制軸卡(EPCIO-6000)所組成。本系統的控制目的為控制X-Y雙軸運動控制平台做精密的定位控制，而其中所使用的軌跡追蹤控制器為PID控制器，並配合速度前饋補償器的使用來降低時間延遲效應，由於運動控制平台會因各軸間的動態特性不同而使得輪廓誤差變大，因此，本系統中亦加入了交叉耦合控制器以降低輪廓誤差。以上之線性控制器固然有高的頻寬及穩定性，但仍無法完全地消除因摩擦力所造成的非線性Stick-Slip現象，為了消除此非線性現象，本文建立了摩擦力模型，並根據此摩擦力模型做摩擦力的前饋補償，使得系統能夠更精準地做定位控制的動作。而本系統的控制介面是由程式語言Visual C++ 2005及採用MFC應用程式軟體架構所撰寫而成，分為離線運動控制介面與即時運動控制介面兩個部分，利於使用者的系統操作。

The X-Y table is a servomechanism commonly used in industrial applications. The system consists of a mechanism, motor actuators, sensors and a controller. The mechanism is composed of two ball screws, U-type linear rails, linear bearings and flexible couplings. The permanent magnetic direct current motors are used as actuators. The rotary encoder is used to measure the angular position of the DC motor. The digital controller is implemented on the personal computer and a motion control card (EPCIO-6000). The objective of this thesis is to realize precise positioning control using a real-time motion control system on an X-Y table. In the system, the tracking error is eliminated by the PID controller, and the feed-forward compensator is used to reduce the time delay effect of the system. Because the difference of dynamical characteristics of two axes will enlarge the contouring error, the cross-coupled controller is added into the system to attenuate this phenomenon. Although the aforementioned linear motion controller has wide bandwidth and high stability, it still can not entirely eliminate the stick-slip phenomenon caused by the friction. In order to reduce this nonlinear phenomenon, this thesis establishes the friction model and bases on this model to implement the feed-forward compensator of the friction. Therefore, the control system has more powerful ability to perform precise positioning. In this research, the motion control interfaces are implemented through Visual C++ 2005 and adopt the MFC application frameworks. The interfaces are divided into two parts, one is the off-line motion control interface and another is the real-time motion control interface. These human/machine interfaces will facilitate the users to operate the system.

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