本研究針對葉片式的氣動馬達做討論，與電動機相比，氣動馬達有著幾面的優勢，如高功率-體積比、啟動停止的切換不會產生火花等，因此在嚴苛的工作環境下-如礦場、化工廠等危險場所-使用氣動馬達仍然是個較為合適的選擇。
為了研究氣動馬達的控制特性，建立氣動馬達的模型是不可或缺的，故本研究先推導氣動馬達的數學模型，再實作滑模控制策略於氣動馬達的轉速控制。
因為氣動馬達有著高功率-體積比的特性，故本研究最後將使用氣動馬達改裝現有的沙灘車架，以實驗轉速控制在氣動載具上的效果。實驗中比較了滑模控制器與傳統PI控制器，對於沙灘車負重以及地面坡度變化的影響，結果驗證了滑模控制器的表現較佳。

[1] R. Saidu, “A Review on Compressed-Air Energy Use and Energy Savings,” Renewable and Sustainable Energy Reviews 14, 2010, pp. 1135–1153.
[2] S. R. Pandian, and F. Takemura, “Control Performance of an Air Motor,” Proceedings of the 1999 IEEE International Conference on Robotics & Automation, Detroit, MI, May, 1999, pp. 518-524.
[3] Y.-D. Shen, and Y.-R. Huang, “Dynamic Modeling and Controller Design for Air Motor,” SICE-ICASE International Joint Conference, Busan, Korea, Oct., 2006, pp. 461-466.
[4] Y.-T. Shen, “Design and Implementation of an Air-powered Motorcycles,” Applied Energy 86, 2009, pp.1105-1110.
[5] C.-C. Lan, “Modeling and Design of Air Vane Motors for Minimal Torque Ripples.” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2010.
[6] F. Takemura, S. R. Pandian and Y. Nagase, “Control of a Hybrid Pneumatic/Electric Motor,” Proceeding of the IEEE/RSJ Int. Conference on Intelligent Robots and System, 2000,
pp. 209-214.
[7] M. O. Tokhi, et. al., “Real-time Control of Air Motors Using a Pneumatic H-bridge,” Control Engineering Practice, No. 9, 2001, pp. 449-457.
[8] Y.-R. Hwang, “Fuzzy MRAC Controller Design for Vane-type Air Motor Systems,” Journal of Mechanical Science and Technology 22, 2008, pp. 497-505.
[9] Y.-T. Shen, “A Robust Sliding Mode Controller Design for a Ball Screw Tabledriven by an AirMotor,” Journal of Mechanical Science and Technology 23, 2009, pp. 3005-3012.
[10]Y.-R. Hwang, “Dynamic Analysis and Fuzzy Logic Control for the Vane-type Air Motor,”
Journal of Mechanical Science and Technology 23, 2009, pp. 3232-3238.
[11]http://www.gastmfg.com/default.aspx
[12]http://www.tokyokeiso.co.jp/products/download/tg/TF-4150_TG-ES913.pdf
[13]http://www.kyowa-ei.co.jp/eng/product/sensors/torque/tps_a.html
[14] http://www.ni.com/pdf/manuals/374126e.pdf