本研究旨在發展液靜壓無段變速系統應用於再生能源之發電系統，如風力發電、波浪發電等，利用液靜壓可變速傳動系統取代傳統發電機使用齒輪箱系統之方式，使發電機系統在發電時能維持穩定的輸出轉速及功率，將可應用於綠能發電系統，提升發電機的發電效率。
本文發展之液靜壓傳動系統，基於風力發電系統之使用考量，使用定排量泵與變排量柱塞馬達，在定排量泵端模擬不穩定之風速，由AC伺服馬達輸入變動的轉速，經液壓泵轉換成系統流量及壓力，利用變排量馬達的變排量優點，進行變速控制。本研究建立縮尺實驗原型系統，進行實驗測試及分析，期望能達到穩定的輸出轉速。變速控制器分別以模糊滑動控制器以及自組織模糊滑動控制器設計，調節變排量柱塞馬達的斜盤位置，使柱塞馬達輸出穩定之目標轉速。同時並比較不同控制器應用在此系統的優劣，實驗結果證明能使轉速的輸出穩定，並達到不錯的變速控制。

The purpose of this study is to develop a hydrostatic transmission system for variable speed control of renewable energy system applications, such as wind turbine, wave energy system. The hydraulic system is utilized to replace the gearbox system of generators. In order to maintain stable output power of generator, the variable speed control of hydrostatic transmission system is proposed to achieve a stable output speed. This system will be applied to green power generation system to increase the efficiency of the generator in rectification.

The development of hydrostatic transmission system is based on wind turbine in this study. A test rig of hydrostatic transmission system is set up for experimental verification. The test rig of hydrostatic transmission system consists of a constant displacement hydraulic pump and a variable displacement axial piston swash plate hydraulic motor for the special application of wind turbine. Besides, in order to simulate unstable wind speed, an AC servo motor is used to drive the hydraulic pump for variable input rotational speed. The constant displacement pump can then convert it into hydraulic energy. Consequently, the variable displacement hydraulic motor can convert the hydraulic energy into mechanical energy through the closed-loop control of hydraulic motor. For that, fuzzy sliding mode control and self-organizing fuzzy sliding mode control are used to develop the controller for constant rotational speed control of the axial piston motor. Finally, the experimental results show that the stable output speed of hydraulic motor can be achieved under variable input conditions.

摘要 I
ABSTRACT II
目錄 III
圖目錄 VI
表目錄 IX
第一章 緒論 1
1-1 前言 1
1-2 文獻回顧 2
1-2-1 泵控液壓系統回顧 2
1-2-2 控制理論回顧 3
1-3 研究動機 4
1-4 本文架構 6
第二章 液壓傳動變速系統架構與設備 7
2-1 液壓變速傳動系統應用於風力發電機架構 7
2-1-1 直驅式液靜壓變速傳動系統 7
2-1-2 迴授式液靜壓傳動系統架構 8
2-1-3 迴授式液動壓傳動系統架構 10
2-2 液靜壓傳動系統架構 12
2-3 液靜壓傳動實驗系統設計 13
2-4 液靜壓傳動系統設計規格 14
2-4-1 AC伺服馬達介紹 20
2-4-2 斜盤式軸向柱塞馬達 21
第三章 液靜壓傳動變速系統分析及數學模型分析 23
3-1 變排量液壓馬達之閥控液壓缸系統 23
3-2 液靜壓傳動系統 31
第四章 控制理論與策略 34
4-1 PID控制理論 34
4-2 模糊滑動控制理論 37
4-2-1 模糊滑動控制器 37
4-2-2 參數 、 、 與 設定 39
4-2-3 建立歸屬函數 40
4-2-4 解模糊化規則 44
4-3 自組織模糊滑動平面控制器 47
4-3-1 自組織模糊控制器 47
4-3-2 自組織法則 48
4-3-3 自組織模糊滑動平面控制器 54
第五章 實驗結果與討論 57
5-1 輸入小幅度sine波之定轉速實驗 57
5-1-1 PID控制器定轉速實驗 58
5-1-2 模糊滑動控制器定轉速實驗 60
5-1-3 自組織模糊滑動控制器定轉速實驗 62
5-2 輸入高振幅sine波之定轉速實驗 65
5-2-2 模糊滑動控制器定轉速實驗 68
5-2-3 自組織模糊滑動控制器定轉速實驗 70
5-3 輸入混合變動之定轉速實驗 73
5-3-1 PID控制器定轉速實驗 73
5-3-2 模糊滑動控制器定轉速實驗 76
5-3-3 自組織模糊滑動控制器定轉速實驗 78
5-4 輸入急變動組合波定轉速實驗 81
5-4-1 PID控制器定轉速實驗 81
5-4-2 模糊滑動控制器定轉速實驗 84
5-4-3 自組織模糊滑動控制器定轉速實驗 86
第六章 結論與未來展望 89
6-1 結論 89
6-2 未來展望 90
參考文獻 91

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