臺灣博碩士論文加值系統

牙髓病根管治療的技術已經發展了許多年，然而治療成功與否迄今仍然深受牙醫師本身的經驗所影響。先進根管治療之研究旨在發展電腦輔助系統及根管治療微小機器人，提升根管治療手術的品質及成功率。本研究之目標為發展此微小機器人之定位控制及根管治療銼針驅動馬達之控制。
本研究分為兩個主軸，分別為超音波馬達致動平台設計、根管治療銼針驅動馬達以及控制器的設計。以六個超音波馬達建構六軸致動平台，藉由六軸的組合運動，可以達到XYZ三方向的平移與旋轉，達到根管治療過程中所需的各種動作。為了達成多軸控制，設計了小腦模型與比例積分微分控制器，以從事此微小機器人之精密定位控制。根管治療銼針驅動馬達以微小步進馬達作為驅動馬達，並且藉由控制器控制步進馬達的轉速，以確保療程中步進馬達能穩定地提供所需轉速。

The endodontic technology has been developed for many years in dentistry. However, treatment success still heavily depends on experience of dentists. Therefore, the present study aims to enhance the clinical quality and increase cure rates of endodontic technology by developing a computer-aided system and an endodontic microrobot. This study develops the positioning control for the endodontic microrobot.
This study can be divided into two main parts, which include designs of an ultrasonic motor (USM) actuator stage and controllers of ultrasonic and stepping motors to drive the endodontic instrument. The USM stage is constructed by using six USMs to achieve displacement and rotation along X, Y, and Z axes and attain any motion required in the endodontic treatment process. We design a CMAC and PID controller for the USM stage to improve the accuracy during the process, and use a micro stepping motor as the endodontic instrument driving motor. In multi-axis control, this study uses a CMAC and PID controller to provide stable speed in the endodontic treatment process.

摘 要 III
Abstract IV
誌 謝 V
目錄 VI
圖 表 目 錄 VIII
第1章 引 言 1
1.1 超音波馬達 1
1.2 步進馬達 4
1.3 霍爾感測器 7
1.4 類神經網路 9
1.5 比例積分微分控制 9
第2章 根管治療輔助裝置機構設計 12
2.1 超音波馬達致動平台設計 12
2.2 牙齒平台固定基座設計 18
2.3 超音馬達驅動放大器 26
第3章 超音波馬達位移控制 29
3.1 超音波馬達系統模型建立 29
3.2 超音波馬達位移控制 38
3.3 CMAC與PID控制理論 42
3.3.1 小腦模型神經控制器 42
3.3.2 CMAC與PID控制法結合 46
3.4 順滑模態控制 51
第4章 超音波馬達控制實驗 55
4.1 實驗儀器與實驗架構 55
4.2 超音波馬達定位控制實驗及實驗結果 59
4.3 超音波馬達速度控制實驗及實驗結果 63
第5章 結論 65

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