本論文提出油電混合式全數位控制系統設計與實現，主要針對電氣式系統以及液壓式系統進行整合，達到油電混合式的架構，並且以DSP TMS320F2407晶片實現全數位控制器的研製。油電混合式系統主要應用於塑膠射出成型機，其中電氣式系統以永磁同步馬達帶動滾珠螺台，液壓式系統以伺服閥控制液壓缸實現，包含成型製程中所需的速度與壓力控制，因此本論文提出之控制器架構可應用於電氣式或液壓式的塑膠成型機中。
本論文於油電混合式控制系統中，提出三項重要的學理為研究目標，使整體系統趨於完善，包含1. 自動增益調整與慣量估測、2. 適應性模糊控制速度與壓力切換點補償、3. 交錯並聯式訊號取樣架構。本論文之所提可使電氣式系統中馬達控制有負載慣量估測的能力，並且依慣量估測結果，以適當的增益初值進行自動增益調整；適應性模糊控制於成型製程中，使速度與壓力控制切換點的壓力下降問題可獲得解決；交錯並聯式訊號取樣架構，於數位脈波訊號或類比訊號取樣之回授系統中，可獲得更高的速度估測回授頻寬，或更高的解析度。本論文提出之油電混合式全數位控制器，可應用於電氣式或液壓式塑膠成型機，並可解決國內相關產業中常見的問題與瓶頸，使其獲得有效地改善。
最後以實驗結果驗證本論文之混合式控制系統，由實驗結果可顯示速度與壓力控制壓力下降問題已解決、速度估測回授頻寬獲得改善、負載慣量估測與自動增益調整有很好且快速收斂的效果，由此可證得本論文之正確性與架構完整性。

The design and implementation of a DSP-based fully digital hybrid hydraulic and electric controller is proposed in the thesis. The controller is applied to the injection modeling machines in which ball screws are driven by permanent-magnet synchronous motors or hydraulic cylinders driven by servo valves.
To improve the system performance, three topics are studied in the hybrid control system, auto-tuning design and load inertia estimation, adaptive fuzzy control at transfer point of velocity and pressure control, and in-parallel interlaced sampling. According to the estimation of the motor load, appropriately initial values of proportional and integral gains are set. During the switching between velocity and pressure control, the adaptive fuzzy control is employed to resolve the phenomenon of pressure drop.
The architecture of in-parallel interlaced sampling may have larger speed-loop bandwidth and higher resolution. Finally, the experimental results demonstrate the effectiveness of proposed algorithms implemental in the DSP-based controller.

摘 要 I
Abstract II
誌 謝 III
目 錄 IV
圖 目 錄 VII
表 目 錄 XIII
第一章 緒論 1
1-1 研究動機 2
1-2 論文章節介紹 3
第二章 塑膠射出成型機介紹 5
2-1 成型製程之速度/壓力控制介紹 5
2-2 速度與壓力控制切換方式 9
2-3 物料成型之保壓軌跡追蹤控制 10
第三章 DSP TMS320F2407簡介 11
3-1 DSP ( Digital Signal Processor ) 11
3-2 中央處理單元（CPU） 14
3-3 記憶體架構與輸出輸入空間 14
3-4 類比/數位轉換 (ADC) 16
3-5方形編碼器脈波電路 (QEP) 18
第四章 永磁同步馬達介紹 19
4-1 三相交流電動機之電路方程式 19
4-2 座標轉換 21
4-3 二相交流電動機之電路方程式 23
4-4 D-q座標表示之電路方程式 26
4-5 電動機之轉矩 28
第五章 液壓式系統與伺服閥介紹 29
5-1 液壓系統介紹 29
5-2 伺服閥介紹 31
第六章 電氣式馬達控制系統設計 34
6-1 電流控制系統設計 34
6-2 速度控制系統設計 36
第七章 空間向量脈波寬度調變 39
7-1 弦波式空間向量設計 40
7-2 SVPWM之合成與推導 41
第八章 自動增益調整與慣量估測 59
8-1 依據相位與增益裕度設定增益值介紹 60
8-2 負載觀測器作自動增益調整介紹 62
8-3 二自由度參數自動增益調整 63
8-4 最佳增益初值與二自由度範圍定義法 71
8-5 負載慣量估測法 75
第九章 適應性模糊控制速度與壓力切換補償 80
9-1 適應性模糊邏輯控制 81
9-2 積分器初值補償控制 84
第十章 交錯並聯式訊號取樣速度估測法 87
10-1 交錯並聯式架構設計與實現方法 88
10-2 直接型式FIR濾波器設計 93
10-3 交錯並聯取樣器與降取樣器之分析比較 94
第十一章 系統實驗結果與分析 100
11-1 電氣式系統實驗平台介紹 100
11-2 液壓式系統實驗平台介紹 103
11-3 自動增益調整與負載慣量估測驗證 107
11-4 適應性模糊控制速度與壓力切換補償之驗證 112
11-5 交錯並聯式訊號取樣法之分析與驗證 117
11-6 液壓式射出成型機之機械響應分析 121
第十二章 結論與未來展望 124
參考文獻 125
作者簡介 131

數位控制：
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伺服控制系統：
[5] P. Pillay and R. Krishnan, “Modeling, simulation, and analysis of permanent-magnet motor drives. I. The permanent-magnet synchronous motor drive,” IEEE Trans. Industry Applications, vol. 25﹐no. 2﹐pp. 265-273﹐March-April 1989.
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負載慣量估測：
[27] K. B. Lee, J. Y. Yoo, J. H. Song, and I. Choy, “Improvement of low speed operation of electric machine with an inertia identification using ROELO,” IEE Proceedings on Electric Power Applications, vol. 151, no. 9, pp. 116-120, Jan. 2004.
[28] K. B. Lee, J. H. Song, I. Choy and J. Y. Yoo, “An inertia identification using ROELO for low speed control of electric machine,” 18th Annual IEEE Conference and Exposition on Applied Power Electronics, vol. 2, no. 9-13, pp. 1052-1055, Feb. 2003.
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[31] C. S. Tsai and P. M. Chen, “Investigation on real-time estimation of rotor inertia,” Taiwan Power Electronics Conference, TPEC, 2002.

速度壓力控制：
[32] Z. Wang, Z. Hua, and Y. Lu, “Research for process control of switching over from injection to holding and holding based on cavity pressure,” IEEE Conference on Ind. , vol. 5, no. 9, pp. 514-518, Dec. 1994.
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適應性模糊控制(壓力補償)：
[37] K. K. Tan, S. N. Huang, and X. Jiang, “Adaptive control of ram velocity for the injection molding machine,” IEEE Trans. on Control Systems Technology, vol. 9, no. 4, pp. 663-671, 2001.
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[41] M. Hojati, and S. Gazor, “Hybrid adaptive fuzzy identification and control of nonlinear systems,” IEEE Trans. on Fuzzy Systems, vol. 10, no. 2, pp. 198-210, 2002.

數位訊號處理：
[42] Mitra, K., Digital Signal Processing, 2nd Ed., McGRAW-HILL, 2002.
[43] M. Bellanger, G. Bonnerot and M. Coudreuse, “Digital filtering by polyphase network: Application to sample rate alteration and filter banks,” IEEE Trans. Acoustics on Speech and Signal Processing, vol. 24, pp. 109-114, April 1976.

液壓系統：
[44] H. E. Merritt, Hydraulic Control Systems, John Wiley & Sons, 1967.
[45] M. B. Histand and D. G. Alciatore, Introduetion to Mechatronics and Measurement Systems, McGRAW-HILL, 1999.
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[47] R. N. Bateson, Introduction to Control System Technology, Prentice Hall, 1993.
[48] 陳靖編著，液氣壓學，文京圖書公司。
[49] 賴耿陽譯著，實用油壓技術－回路篇，復漢出版社。

資料手冊：
[50] The User Manual of SPR2-VLRC, BOSH Inc.
[51] The User Manual of DVP, MOOG Inc.
[52] The User Manual of SPR2-VLRC, PART Inc.
[53] The User Manual of TMS320F2407, TI Inc.