由於液壓伺服系統具有非線性、時變等特性，系統參數會隨外在條件的改變而產生變動，使得電液伺服系統加速度控制的困難度較高。
本文提出以DSP(digital signal processor)控制器為核心，結合個人電腦建立一套即時控制系統，並且採用極點配置之自調式適應控制器(self-tuning adaptive controller)，藉由帶有遺忘因子之遞迴最小平方法(recursive least square with forgetting factor method)來估測系統的參數，用以控制單軸液壓動態材料試驗機之加速度運動，使其兼具良好響應性能與適應性。
本文並比較自調式適應控制器和傳統控制器，在不同的參考輸入頻率以及環境變動時，兩者性能表現之優劣。實驗顯示自調式適應控制可獲得較佳的控制性能。

It is difficult to perform the acceleration test of an electro-hydraulic testing machine, because of it's nonlinearities and parametrical variations.
In this thesis, a personal computer associated with a digital signal processor is proposed to accomplish the real-time acceleration control. Base on the adaptive control algorithm, a pole assignment self-tuning adaptive controller is developed. System parameters are estimated via the on-line recursive least square with forgetting factor method.
The performance of the self-tuning adaptive controller is compared with experimental results of a conventional controller. It is verified that the performance of self-tuning adaptive controller is superior to the conventional controller under different frequency command and the variation of environment condition.

誌謝
中文摘要…………………..……………………………………………Ⅰ
英文摘要………………………………………………………………..Ⅱ
目錄…………………..…………………………………………………Ⅲ
圖表索引…………………..……………………………………………Ⅴ
第一章 緒論……………………….…………………………………….1
1.1 前言……………………………………………………………….1
1.2 文獻回顧………………………………...………………………..2
1.3 研究動機及目的………………………………………………….3
1.4本文內容………………………………...……..….……………….5
第二章 實驗裝置及系統之數學模式與鑑別……..……………………6
2.1實驗裝置……………………………………………...……………6
2.2系統組成元件之數學模式…………………………...……………8
2.2.1伺服放大器……………………………………..……..………8
2.2.2伺服閥…………………………………………………………8
2.2.3液壓缸及垂直負載……………………………..……..………9
2.2.4加速度感測元件……………………………………..………10
2.3開路轉移函數…………………………..………...………………11
2.4系統參數鑑別…………………....……………….………………12
第三章 自調式適應控制器之設計……………………………………16
3.1參數估測…………………………………………...….…….……16
3.1.1具有可變遺忘因子的遞迴最小平方法……………..………17
3.1.2參數估測之討論………………………...……...……………19
3.2閉迴路極點配置法則………………………..……...……………20
第四章 實驗與討論……………………….……………...……………26
4.1閉迴路極點位置選擇………………………….…...……….……26
4.2實驗………………………………...……………………………..26
4.2.1自調式適應控制的實現………………………..……………26
4.2.2傳統控制的實現………………………...……...……………27
4.2.3實驗結果………………………………...……...……………38
4.2.4波形扭曲率評價函數…………………………......…………39
4.2.5供油壓力改變對系統的影響…………………......…………41
第五章 結論與建議………………………………….…...……………46
5.1 結論………………………………………………...……………46
5.2 建議………………………………………………...……………47
參考文獻……………………………………...…………...……………48
作者簡歷

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