本論文以一部有刷直流馬達為對像,觀察馬達在極低速狀態下的運動,
以本實驗室所發展出來的靜摩擦模型為基礎,發展一個涵蓋靜摩擦,動摩擦
以及動靜摩擦轉換之間的摩擦力模型,以作為高精度定位與極低速定速控
制的基礎. 首先我發展了一套線上觀測和控制程式,將馬達的運動狀態
即時地顯示在螢幕上,並且透過鍵盤控制供給馬達的電壓. 然後經由一連
串的馬達實驗,從實驗結果以及文獻資料分析摩擦力對系統的作用,進而建
立整個摩擦力模型. 最後,利用所建立的摩擦力模型進行電腦模擬,而
模擬結果都能與實驗結果吻合.

In this thesis, I study the friction behavior of a brushtype
PM DC motor under extremely low velocity. The purpose of this
research is to develop a friction modelto describe the behavior
of static friction , dynamic frictionand the transition between
them. This research is fundamental tohigh precision position
control and velocity control at extremelylow velocity. First,
I use Watcom C language to develop a on-line computerprogram.
This program display the motion of the motor on the screenand
the user can control the input voltage to the motor by keyboard.
By analyzing the result of the experiments excluded in this
research together with those results reported in literature, we
canfully understand the character of friction and build a model
to describe it. The simulation results show that the model do
concide with thoseexperiment results.