中文摘要
題 目： 骨疾治療機震波產生器運動與姿態控制設計
學 生： 陳家瑋
指導教授： 梁勝明

　　體外震波治療術很早就被醫學界的泌尿科所採用，用來治療腎臟與泌尿系統的結石。隨著震波於醫學領域上的拓展，現今體外震波治療術已經不再只單純的應用於泌尿科上。成功大學醫學震波應用研究中心利用新型的電水式震波產生器，並搭配自動調整電極間距系統，使電擊棒每次產生的震波都能維持均勻的壓力，以避免因電擊棒的熔蝕造成聚焦壓力下降。本研究設計出一組良好的移動平台，擁有迅速地起步與煞停功能，而且有足夠的剛性，能承受懸臂及震杯之不同負載，另可搭配雷射定位系統或自動追蹤系統。
　　在移動平台的設計上必須搭配好的硬體與軟體。硬體的設計方面，利用鋁擠材質的三軸移動平台並加上一組不銹鋼材質的懸臂，成為四軸運動機構，其採用兩只400W與兩只750W的AC伺服馬達作為傳動軸，並各自搭配伺服驅動器，利用一台由Delta Tau Data System公司製作的多軸馬達控制卡（PMAC）作為控制器，接收電腦傳來的訊號，經RS232送入PMAC中同時控制四只AC伺服馬達旋轉，帶動移動軸移動。另外於懸臂上加裝一組減速機，用以降低轉速增加扭矩。
　　於軟體應用方面，利用PMAC所附加的軟體，於電腦上設定的PID參數值儲存於PMAC，並傳入驅動器帶動AC伺服馬達轉動，其跟隨軌跡經AC伺服馬達之Encoder回授儲存於電腦上，處理回授的訊號觀察PID參數對於伺服馬達的超越量（overshooting）、跟隨誤差量的多寡加以調整，而找到一組適用於不同負載的PID參數值。
　　經不同負載的重覆實驗，吾人找出適合X軸與Y軸之最佳PID參數（Kp = 1.5×105、Kd = 0、Ki = 2×104）和適合Z軸與懸臂轉軸之最佳PID參數（Kp = 3×105、 Kd = 0、Ki = 2×104）。亦即此兩組參數於不同負載時，三軸移動能有最小的跟隨誤差與最小的overshoot值。

Abstract
Title： Design of Motion and Attitude Control of a Shock Wave Generator in Orthotriptor
Student：Chia-Wei Chen
Advisor：Shen-Min Liang

　Extracorporeal shock wave lithotripsy has been adopted by urologists for treating urinary stones for the past twenty years. With the progress in the medical shock-wave studies, Extracorporeal Shock Wave Therapy (ESWT) has been applied to orthopedics. In this study, a new type of a shock wave generator with an automatic gap-controlled system for ESWT is designed in the Research Center of Medical Shock Wave Application at National Cheng Kung University, which can produce stable pressure outputs. We design a smoothly moving platform for the shock-wave generation system. This moving platform has the abilities of fast acceleration and deceleration. With enough stiffness, it can bear a variety of loads on the generator arm. Moreover, the platform can further be compatible with a laser locating system.
　On the aspect of hardware, we assemble the moving platform by using three pieces of aluminum tables and a generator arm of stainless steel, which is able to move in four-axis movements. Four AC servomotors of two 400W and two 750W with servo drivers are used as driving devices. A PMAC controller is used to receive the signals from a computer through RS232 and to control the four AC servomotors at the same time. Thus the position and attitude of the shock wave generator can be controlled.
　On the aspect of software, we utilize the software installed in the PAMC controller. We define a set of parametric values for the PID parameters on the computer, which is transmitted and stored to the PMAC controller. Following a step command, the responses of all four servomotors were gathered and stored as files on the computer. We analyzed the data for the overshoots and associated errors under different PID parameters. Therefore a set of parameters was found to be suitable for a variety of loads.
　We have experimentally optimized the PID parameters for the four-axis with and without loading by several trials. It is found that the parameters Kp = 1.5×105, Kd = 0 and Ki = 2×104 are suitable for the X and Y axes, and Kp = 3×105, Kd = 0 and Ki = 2×104 for the Z and axes. The rise times of responses to commands for these two sets of the PID parameters are shortest with less error and overshoot. Namely, these two sets of parameter values result in a least followed error and least overshooting for three axial movements at different loading.

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