臺灣博碩士論文加值系統

新一代開發之X-Y平台已經朝向低成本，高精密定位之方向設計。本文可動機構部分是採用已經商業化量產之光學讀取頭模組外加一平台構成。平台位置的偵測是藉由固定不動的光碟片反射雷射光，經光學二極體接收反射信號，再將信號加以運算後而得。為了達到高精密定位的特性，我們試著使用古典控制的PID控制器來達到精確定位的特性。初步驗證得到的結果可以確定使用此種結構有極大之潛能可以達到低成本及高定位精度之X-Y平台。
X-Y精密定位平台的開發，不外乎線性馬達或壓電陶瓷馬達搭配導螺桿或其它機構所組成，其優點是可以承载較重之待測物體，缺點是重量大且價格昂貴，在許多應用上並不要求測試平台擁有太大的荷重能力，如生物醫學診斷及檢測，生物晶片開發及檢測，光纖校準，奈米材料研發，奈米量測及精密全平面掃描等等，如果以此為前提，能以極低之成本創造出高精密定位之X-Y平台，將會有極高之商業價值及極大之競爭力。

An innovative X-Y table has been designed for the purpose of low cost and high positioning accuracy. In this paper, we developed an low-cost X-Y table consist of commercially available optical pickup-head unit and a self-made constructed platform. The feedback position signal of the platform was measured through the reflected signals on photo diodes from a compact disc attached on the platform. In order to achieve high accuracy of precise positioning, we adopted the classical PID controller as to move the platform to the desired position. Experimental results have shown the high potentiality of this architecture to achieve high accurate positioning of X-Y table with very low cost. Most of the developing X-Y tables applied Ball screw-driven table system or piezo-ceramic linear motor by taking the advantages of carrying heavy loads. However, their cost are very high in contrast to the proposed architecture. In some particular application fields. Carrying heavy loads is not the main requirement for the X-Y table, such as organic cell inspection, optical fiber alignment, nano-material research， ect. Taking this idea as a premise, if we could able to create a precise positioning X-Y table with very low cost, we will be able to achieve the extremely high commercial value and highly competitive ability.

中文摘要 i
ABSTRACT ii
誌 謝 iii
圖目錄 vi
第一章 緒論 1
1.1 前言 1
1.2 研究動機 1
1.3 研究方法 2
1.4 文獻回顧 2
1.5 論文架構 7
第二章 ＸＹ精密定位平台系統的建立 9
2.1 X-Y 精密定位平台系統的架構 9
2.2 X-Y平台模組化 10
第三章 光學讀寫頭簡介與理論背景介紹 14
3.1 讀寫頭簡介 14
3.1.1 雷射光 14
3.1.2 音圈馬達 17
3.1.3 位置感測器 20
3.1.4 物鏡模組及其它光學元件 23
3.2 聚焦伺服系統 26
3.3 跳軌伺服系統 28
第四章 實作架構介紹 31
4.1 機構設計 31
4.2 電路設計 32
4.2.1 雷射光電路 32
4.2.2 控制信號前置處理電路 33
4.2.3 讀寫頭驅動電路 34
4.2.4 四象限光感測器電路 35
4.2.5 被動濾波器和主動濾波器 36
4.3 系統鑑別 42
4.3.1系統之模型 42
4.3.2系統鑑別之實驗 45
4.4 控制器設計 47
4.4.1 PID 控制器 47
4.4.2 PID 控制器參數的調整 49
4.4.3 Xpc 即時控制系統 50
第五章 實驗的結果 51
5.1 X軸精密定位控制實驗的結果 51
5.1.1初步實驗得到的結果 51
5.1.2控制器改良後得到的結果 54
5.2 Y軸精密定位控制實驗的結果 56
5.2.1 跨軌訊號之感測 56
5.2.2 實際擷取到之跨軌訊號 58
第六章 結論 59
6.1 結論 59
6.2 未來方向 60
參考文獻 61

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