隨著應用網際網路（Internet）日漸普及，網際網路遠端操控系統（Internet-based Teleoperation System）之應用日益受到重視，但因為網際網路具有資料傳輸延遲的特性，使得傳統方法設計之控制器性能受到嚴重影響。
有鑑於此，本論文提出一個適用於網路遠端操控系統之改良式控制傳輸協定（Control System Transfer Protocol, CSTP）與TCP-Like模糊流量控制（Fuzzy Flow Control, FFC）之機制。根據網路狀態的不同，此機制能即時自我調整使用者端之封包傳送率，以期減少命令封包的傳輸延遲，提高控制系統輸出的穩定性。而在使用者端，本論文加入一個考慮時間延遲之GA-PID控制器（Genetic Algorithm PID Controller）改善傳統PID控制器的控制能力。
最後，為驗證所提網際網路控制架構的有效性，本論文以VisSim軟體開發一套網際網路遠端操控環境，並以直流馬達做實際測試對象。由實驗結果可得知，本論文之控制架構可提昇網路環境下之控制器效能，使閉迴路具有良好的動態特性。

With the booming of internet, applications of the Internet-based Teleoperation System (ITSs) are rapidly developed. Because of the essential characteristics of data-transmission delay, the performance of the internet-based controller, which is designed by conventional method, is inevitably deteriorated.
In view of the phenomenon, this thesis proposes the CSTP protocol and TCP-like fuzzy flow control that is suitable for the internet-based teleoperation system. According to the change of the network states, the proposed mechanism adjusts the packet''s sending rate at user-end, and thus reduces the command packet’s transmission delay; and further improves the stability of the control system. Moreover, a GA-based PID controller is designed at the user-end to improve the capability of traditional PID controller.
Finally, an ITS environment is implemented by the VisSim software to verify the practicality of the proposed method. Using DC motor as a testing object, it is seen that the ITS DC motor control system acquires good performance while the proposed flow control scheme and GA-based PID controller are applied.

中文摘要 ......................................i
英文摘要 .....................................ii
誌謝 ....................................iii
目錄 .....................................iv
表目錄 ......................................v
圖目錄 .....................................vi
第一章 緒論 1
1.1 研究動機與目的 1
1.2 文獻回顧 2
1.3 章節說明 5
第二章 TCP-like模糊流量控制演算法 6
2.1 網路傳輸協定簡介 6
2.1.1 TCP與UDP在控制應用上之優缺點 6
2.1.2 RTP與RTCP在控制應用上之優缺點 13
2.2 CSTP通訊協定 15
2.2.1 網路狀態偵測 15
2.2.2 CSTP協定的架構與機制 19
2.3 TCP-like模糊流量控制演算法 25
第三章 系統架構與實作 35
3.1 系統架構 35
3.2 直流馬達系統鑑別 39
3.2.1 系統鑑別方法 39
2.2.2 直流馬達系統鑑別 39
3.3 系統取樣頻率的選定 43
3.4 PID控制器設計 49
3.5 實驗數據與結果 58
第四章 結論與未來展望 67
4.1 結論 67
3.2 未來展望 68
參考文獻 69

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