完整的線性平台系統包含線性滑軌與滑塊兩個元件，能夠承載裝置並做ㄧ
維平移，當滑塊與滑軌之間充滿高壓油成為非接觸式軸承，此完整系統可稱為
液壓線性平台，與傳統的接觸式線性平台相比，能夠提供延長壽命、低摩擦阻
力與高精度之優點。然而，液壓技術需考量較多參數，諸如流量、溫度、壓力
與黏滯性等，這些參數影響著液壓線性平台的效能與穩定性。
液壓平台系統油腔內節流器產生之壓力，決定軸承油壓之承載力與剛性，
進而決定線性平台之效能。油腔內壓力與節流器之長度、半徑、油膜厚度、油
的黏滯係數與供油壓力相關，此時進階控制器設計可應用液壓調控系統中，以
調節液壓線性平台之供油壓力，達到高精度與高穩定性之壓力表現；為此，比
例閥電控元件與感測器加裝於液壓調節系統，作為實時控制與監測之工具元
件。
本文討論液壓線性平台之性能補償，主要可分為三步驟：第一步為建立液
壓線性平台之靜態數學模型，第二步為比例閥應用在主動式液壓調控系統上做
參數識別，第三步為設計控制系統於液壓調控系統中，並模擬與實驗。基於主
動式液壓調控系統的壓力感測器與比例閥調控元件，第二步驟利用即時控制設
備dSPACE 與即時控制軟體ControlDesk 進行參數識別，建立液壓調控系統之多
輸入多輸出動態模型，並分析系統響應行為。於第三步驟中，動態模型與控制
系統以Matlab/Simulink 建模，比較未控制、前饋反饋控制、模型反矩陣控制、
與PID 控制情形下，比例閥與供油壓力之性能表現，以及模擬受承載力干擾下
的性能表現，最後討論模擬與實驗結果。

Linear platform of machine tool includes two major components, a slider and a
guideway. Within the linear platform system, when the gap between the slider and
guideway is filled with high-pressure hydraulic oil and becomes a contactless bearing,
this is called hydraulic bearing. Hydraulic bearing is able to provide higher precision,
longer cycle life, and lower friction than the traditional contact bearings; however, more
design parameters and control techniques related to temperature, flow, pressure, etc.,
affect the performance of hydraulic linear platform and need to be concerned with.
The loading capacity of hydraulic linear platform is determined by the design of
restrictors, oil film thickness, and supply pressure. While a hydraulic linear platform is
in operation and an external loading is applied, advanced control of hydraulic
adjustment system is required, in order to maintain a high-level stability and accuracy
of hydraulic pressure. To this end, a proportional valve installed in the hydraulic
adjustment system is considered in this work for real-time control and compensation.
In this work, the performance compensation of hydraulic linear platform is
introduced, which involves three steps of control development; the first step is to
establish the mathematical model of the hydraulic linear platform, the second is to
introduce proportional valve in hydraulic adjustment system and experiment on system
identification, and the third is to simulate the pressure response of hydraulic adjustment
system with controller design. In this work, real-time dSPACE control system is utilized
to implement identification work, for the purpose of establishing a multi-input/multioutput
dynamic model of the active hydraulic adjustment system. Then, based on the
dynamic model, the third step develops a feedforward-feedback and a PID controllers
for the active hydraulic adjustment system; the dynamic responses and control
performance are simulated for verification.

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