本研究提出一個廣義的暫態同步控制方法，可應用於（1）非線性且（2）多輸入多輸出的多驅動器系統。在此定義廣義的同步控制如下：給定 n 個驅動器系統的子系統以及所欲控制的狀態，我們將設計一控制器使得在控制過程中任相鄰之驅動器所控制的狀態誤差之差趨近於 0，且可達成最終的參考狀態。由此定義可知，提出的控制方法可應用於一般常見的同步控制問題（即參考狀態相同），也可應用於參考狀態不同的延伸問題。此外，以多馬達的運動控制為例，我們建立一個多驅動器的運動控制系統以驗證控制方法的有效性。在控制策略方面，本研究採用結合滑動控制的暫態同步控制方法，並提出數學證明以加強過去滑動同步控制方法缺少數學證明的不足之處；在通訊方法上，利用控制器區域網路來建立實現暫態同步運動控制的通訊網路。為了增加通訊效率，網路中各節點以環狀相連的形式編碼並傳遞運動資訊給相鄰的節點。實驗結果顯示，三個有刷直流馬達在變化的參考輸入、建模誤差與驅動器遭受外部干擾的複雜情況下，運用本研究提出之控制方法能達到暫態同步運動。

This study proposes a method to achieve general synchronized motion control in transients which can be applied to systems with (1) nonlinearity and (2) multi-inputs and multi-outputs. It is noted that the general synchronized motion control is defined as follows: given an n-actuator system with states, the objective is to design a controller such that, the desired state of the ith subsystem can be achieved eventually and the errors of the state errors between any two neighboring subsystems can be minimized in the whole control period. Based on this claim, the proposed method can be used for the common synchronized motion control (i.e., the same desired states), and extended for the cases where the desired states are different. In particular, a system consisted of multiple motors is established to conduct motion control experiments to verify the validity of the proposed method. For the control scheme, a method combining the synchronized motion control in transients and the sliding control is adopted and supplemented with a mathematical proof to complement the inadequacy in past researches; as for the communication method, the Controller Area Network bus (CAN bus) is utilized and, in order to increase communication efficiency, all nodes are numbered in a ring-linked format to communicate with the neighboring nodes only during the synchronized motion control. Experimental results show that under varying reference commands, modelling uncertainties, and external disturbances, three brushed DC motors can achieve a synchronized motion in transients with the proposed control method.

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