一般而言，回授控制是伺服控制系統中基本且必要的手段。然而閉迴路系統對於感測元件的靈敏度很高，若感測元件本身易受雜訊影響，導致回授訊號受到污染，反而會破壞了整體系統性能。因此一純淨的回授訊號源不但能提升系統的控制性能，更能降低控制器設計的複雜度。另一方面，伺服控制系統近年來已成為產業機械中重要的基本組件之一。然而對於諸多產業機械而言，欲達到自動化且高精密度的生產目標，其伺服控制系統需要速度、甚至加速度的回授訊號。有鑑於此，本論文之主要目的在於分析各種速度與加速度估測法則並比較其優劣，期於不同的速度及加速度應用範圍中，提供一適當的估測方式。此外，本論文所使用之系統參數鑑別策略，有別於一般使用頻譜分析儀找出系統模型的方式，能有效且快速地決定系統參數。最後本論文以AC伺服馬達搭配一負載進行實驗，以驗證各估測法則之性能。

　　Generally speaking, feedback control is a basic and necessary trick in servo control systems. However, a closed-loop system is highly sensitive to the performances of the measurement devices. If these devices are not robust to the noise, the performance of the closed-loop system will be deteriorated due to the polluted feedback signal. Therefore, a high-accuracy feedback signal not only can improve the system performance, but also can reduce the complexity of controller design. On the other hand, a servo control system has become one of the fundamental components of the industrial machineries recently. For a large amount of industrial machineries, to achieve the goal of high-accuracy and automatic mass-production, their servo control systems usually require the velocity information or even the acceleration information as the feedback signal. Hence, the aim of this thesis is to analyze and evaluate several kinds of velocity and acceleration estimation methods, such that a simple and reliable criterion of choosing appropriate estimation methods in different velocity and acceleration ranges can be provided. In addition, a model identification strategy that is different from the common approach is used in this study, in which it can identify the system model quickly and efficiently. At the last, an AC servo motor with a load is used as the test device to evaluate the performance of various estimation methods.

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