本論文目標是以液靜壓軸承技術搭配永磁同步馬達，開發適合高承載、高精度與重切削之分度盤與其精密定位控制技術，作為日後高精密加工機之第四或第五軸分度盤系統使用。與一般滾針或滾珠軸承相比，液靜壓軸承具備高承載力、高剛性、吸震能力佳、無磨耗、使用壽命長、摩擦力小等特性，可使相接的旋轉台、線性運動平台或分度盤達到極高的定位精度。
因此，本篇論文主旨在於液靜壓分度盤之機電整合，並建立液靜壓分度盤系統之動態模型與模擬分析以利控制器的設計。本論文首先以永磁同步馬達動態模型為主軸，進一步推導出液靜壓分度盤之數學模型，包含系統方塊圖與轉移函數。其中，永磁同步馬達動態模型從原本的靜止三相座標軸轉換到馬達轉子上的兩軸同步旋轉座標軸，此方法降低了交流馬達動態方程式的變數數量，只要再進一步地將動態方程式解耦合，就能使馬達轉矩與電流呈現正比的關係，實現交流馬達的轉矩與速度控制。
本論文同時採用系統識別之實驗方法，建立出接近現實的液靜壓分度盤之動態模型，稱為識別模型，並觀察系統之動態響應，識別模型再與先前推出的數學模型兩相對照，驗證數學與識別模型的正確性。
將數學模型與識別模型整合後，本論文設計出合適的速度與位置控制器，並利用電腦軟體MATLAB/Simulink模擬，探討控制器之參數對系統反應速度、穩定度的影響，取得理想的控制參數後，套用在真實系統上，觀察實際狀況與模擬情形是否吻合，最後利用雷射干涉儀檢測分度盤經控制過後的定位精度與重複精度。

The purpose of this paper is to use the hydrostatic bearing technology with a permanent magnet synchronous motor to develop a high-load, high-precision and heavy-cutting indexing plate, and the PI algorithm is used for developing the precise positioning control technology of the indexing plate system. Compared with the conventional ball bearing systems, hydrostatic bearings have the advantageous characteristics of high stiffness, small friction, long life and superior shock absorption. Therefore, equipment like linear motion platform and indexing plate which apply hydrostatic bearing can achieve a high positioning accuracy. It is expected that the indexing plate system with the PI controller can be used as a fourth or fifth axis for high precision processing machines.
This paper introduces the mechatronic of the hydrostatic indexing plate, and the dynamic model of this system is established for further PI control design. A two-step method to develop the dynamic model of the system is considered in this paper. The first step is to obtain the equation of motion of the permanent magnet synchronous motor, which covers the loading effects from the hydrostatic indexing plate. Therefore, the block diagram and transfer function can be derived for simulation and control studies. The second step is to conduct the experimental work to identify the mathematical model of the hydrostatic indexing plate system. The two models obtained from equation of motion and experimental identification will be compared in future work.
Using the dynamic models from the above description, the paper designs a speed controller and a position controller using the PI technique for the motor and hydrostatic indexing plate system, and the simulation study is carried out in the MATLAB and Simulink software environment to analyze the time response and frequency response of the system. Furthermore, different parameters of speed controller are compared to see the performance of overshoot and settling time. Finally, a preliminary study on the control implementation is presented.

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