於馬達自動化繞線製程中，如何提升繞線品質一直為產業界所關心重要議題之一，而使馬達繞線具並排緊緻之特性則為馬達繞線品質提升之一關鍵因素。一般而言，精密的定位與穩定的張力為可否達成上述繞線品質要求的核心技術，然而，定位與張力之精度易受外在干擾現象影響(如機台振動)。有鑒於此，若欲改善張力與定位之控制性能，則必須藉由相關運動控制技巧之實現。本論文中，為提升繞線機各軸之定位精度，於定位控制上則搭配S-curve加減速規劃曲線，藉以避免過大加速度對定位精度之影響。在張力控制部份，相較於傳統張力調節裝置僅能被動的進行張力調整，本論文則發展一主動式張力控制系統以達到即時張力控制之目的。此外，為提升張力控制系統響應及消除繞線製程動作產生的週期性干擾源，本論文則進一步考慮具速度同動及反覆性學習控制之張力控制架構。同時，為避免系統參數變動影響張力控制系統性能，本論文則藉由遞迴式最小平方法來即時估測系統慣量等參數，並引入適應性控制之概念以調變合宜之控制器增益值。最後，將上述相關運動控制技術實現於一單槽內繞式馬達定子自動化繞線機之繞線製程上，藉以驗證本論文所提出各方法之可行性。

Regarding the automatic motor winding process, how to enhance the quality of winding is an important issue in the motor industry and thus rendering tidy motor winding crucial to the enhancement of winding quality. Generally speaking, accurate positioning and stable tension are core technologies in achieving high quality of winding. However, the precision of which is easily degraded by external disturbances (such as the vibration of the machine). Therefore, to improve the performance of tension control as well as position control of the automatic motor winding process, sophisticated motion control techniques are indispensible. In this thesis, to increase the precision of positioning on every axis of the automatic motor winding machine, S-curve motion planning is used to minimize the influence of excessive acceleration/deceleration on accuracy of positioning control. For tension control, in contrast to the traditional tension regulation device which can only passively regulate tension, in this thesis, an active tension control system is developed to conduct a real-time tension control. Furthermore, a tension control structure with speed synchronization and Iterative Learning Control (ILC) is proposed for improving the system response and eliminating periodic disturbance resulting from the periodic winding process. Additionally, the idea of adaptive control is exploited to adjust the controller gains based on the system parameters estimated by the Recursive Least Square (RLS) method in order to eliminate the influence of system parameter variation on the performance of tension control. Lastly, the aforementioned motion control techniques will be applied to the winding process of an automatic motor winding machine so as to verify the. feasibility of the proposed approach.

[1]http://www.odawara-eng.co.jp
[2]http://www.gmw.com.tw/
[3]Kaan Erkorkmaz and Yusuf Altintas, “High speed CNC system design. Part I:jerk limited trajectory generation and quintic spline interpolation,” International Journal of Machine Tools and Manufacture, vol. 41, no. 9, pp.1323-1345, 2001.
[4]Wankun Zhou and Zhiqiang Gao, “An Active Disturbance Rejection Approach to Tension and Velocity Regulations in Web Processing Lines,” in Proc. of the IEEE International Conference onControl Applications, 2007, pp.842–848.
[5]Jeong-Uk Lee, Chang-Ho Choi, Seung-Ho Song, Seung-Ki Sul and Dong-Seuk Hyun, “On-line compensation of friction loss for continuousstrip processing line,” in Proc. of the IEEE International Conference onIndustry Applications,2000, vol.4, pp.2662–2667.
[6]Ku Chin Lin, Ming-Ching Tsai and Kung-Yi Chen, “Web tension control of a start-up process using observer techniques with friction andinertia compensation,” in Proc. of the IEEE International Conference on Industrial Electronics Society, 2001,vol.1, pp.529–534.
[7]Knittel D, Laroche E, Gigan D and Koc H, “Tension control for winding systems with two-degrees-of-freedom H∞ controllers,” IEEE Transactions onIndustry Applications, vol.39, no.1, pp.113–120, 2003.
[8]Chunxiang Wang, Yongzhang Wang, Ruqing Yang and Hua Lu, “Research on precision tension control system based on neural network,” IEEE Transactions onIndustrial Electronics, vol.51, no.2, pp.381–386,2004.
[9]Abjadi N.R, Soltani J, Askari J and Markadeh G.R.A, “Nonlinear sliding-mode control of a multi-motor web-winding system without tension sensor,” IET on Control Theory & Applications, vol.3, no.4, pp.419–427, 2009.
[10]JianKui Chen, Zhouping Yin, Youlun Xiong and Jianzhou Quan, “A hybrid control method of tension and position for a discontinuous web transport system,” in Proc. of the IEEE International Conference on ICIA(Information and Automation), 2009,pp.265–270.
[11]Nevaranta N, Niemela M, Pyrhonen J, Pyrhonen O and Lindh T, “Indirect tension control method for an intermittent web transport system,” in Proc. of the IEEE International Conference on Power Electronics and Motion Control (EPE/PEMC), 2012 ,pp.DS2a.2-1,DS2a.2-6.
[12] Arimoto S, Kawamura S and Miyazaki F, “Bettering operation of robots by learning,”Journal of Robotic Systems., vol.1, no.2, pp.123–140, 1984.
[13]Bristow D.A, Tharayil M and Alleyne A.G., “A survey of iterative learning control,” IEEE Control Systems Magazine, vol.26, no.3, pp.96–114, 2006.
[14]Baosheng Wang, Jianmin Zuo, Mulan Wang and Hongyan Hao, “Model Reference Adaptive Tension Control of Web Packaging Material,” in Proc. of the IEEE International Conference on Intelligent Computation Technology and Automation (ICICTA), 2008, vol.1,pp.395–398.
[15]Qiang Liu, Tianyou Chai, Lijie Zhao, Yingwei Zhang and Shuran Zhang, “Modeling and gain scheduling adaptive control of tension control system for continuous annealing process,” in Proc. of the IEEE Conference on Decision and Control , 2009, pp.5598–5603.
[16]www.weyhwang.com.tw
[17]N. A. Ebler, R. Arnason, G. Michaelis, and N. D’Sa, “Tension control: Dancer rolls or load cells,”IEEE Transactions on Industry Application., vol. 29, no.4, pp.727–739, 1993.
[18]http://pic.ccn.mofcom.gov.cn/duomeiti/10685663/0051.jpg
[19]http://cshntsb.cn.china.cn/supply/2434041303.html
[20]www.dzrxj.com/fenlei
[21]茆尚勳，直驅式跑步機用直流無刷馬達之設計，碩士論文，國立成功大學機械工程系，九十學年度。
[22]http://lutron1980.pixnet.net/blog/post/49847482
[23]Kaan Erkorkmaz and Yusuf Altintas, “High speed CNC system design.Part III: high speed tracking and contouring control of feed drives,” International Journal of Machine Tools & Manufacture, vol.41, no.11, pp.1637-1658, 2001.
[24]吳孟杰，線性伺服系統同動控制之研究，碩士論文，國立成功大學系統與船舶機電工程學系，2005。
[25]R.H Brown, S.C Schneider and M.G Mulligan, “Analysis of algorithms for velocity estimation from discrete position versus time data,” IEEE Transactions on Industrial Electronics, vol.39, no.1, pp.11-19, 1992.
[26]廖兼賢，以離散位置資訊作速度與加速度估測之研究，碩士論文，國立成功大學電機工程學系，2004。
[27]劉叡明，伺服馬達低轉速控制改善之研究，碩士論文，國立成功大學電機工程學系，2008。
[28]M.Y Cheng, M.C Tsai and J.C Kuo, “Real-time NURBS command generators for CNC servo controllers,” International Journal of Machine Tools & Manufacture, vol. 42, no.7, pp. 801-813, 2002.
[29]郭洲成，陳志豪，蔡明祺，”S-Curve 速度規劃應用於馬達定位控制”,中國機械工程學會第十五屆全國學術研討會，成功大學，1998。
[30]C. T Johnson and R. D Lorenz, “Experimental identification of friction and its compensation in precise, position controlled mechanisms,”IEEE Transactions on Industry Applications, vol.28, no.6 pp.1392-1398, 1992.
[31]K. J. Astrom , B. Wittenmark, Adaptive Control:Addison-Wesley Longman Publishing Co.,Inc,1994.
[32]楊憲東，非線性控制上課講義，國立成功大學航空太空研究所，2010。
[33]Sherman Jack, Morrison Winifred J. “Adjustment of an Inverse Matrix Corresponding to a Change in One Element of a Given Matrix”. Annals of Mathematical Statistics,vol.21,no.1,pp.124-127,1950.
[34]王振興，類神經網路簡介上課講義，國立成功大學電機工程學系2010。
[35] M.Norrlof, S.Gunnarsson, “Time and frequency domain convergence properties in iterative learning control,”International Journal of Control, vol.75, no.14, pp.1114-1126, 2002.
[36] C.K. Chen , J. Hwang, “Iterative learning control for position tracking of a pneumatic actuated X-Y table,”Control Engineering Practice, vol.13, no.2, pp.1455-1461,2005.
[37]Meng Shiun Tsai, Ming Tzong Lin, Hong-Tzong Yau, Development of command-based iterative learning control algorithm with consideration of friction, disturbance, and noise effects,” IEEE Transactions on Control Systems Technology, vol.14, no.3, pp.511-518,2006.
[38]工研院，IMP-2硬體使用手冊，2010年。
[39]工研院，IMP Series 單機模式使用者導引，2010年。
[40]工研院，IMP-WB-1硬體使用手冊，2010年。
[41]MITSUBISHI ELECTRIC，Servo Amplifier and Motor Instruction Manual。
[42]DELTA，ASDA-A &A +系列進階泛用型伺服驅動器應用技術手冊。
[43]工研院，IMP-ARIO硬體使用手冊，2010。
[44]意法半導體，教育訓練講義，2011年。
[45]張智星, MATLAB程式設計與應用, 2002