氣動馬達的特性即是氣壓大小以及進氣量的多寡造成不同的轉速值。故本論文利用硬體描述語言的撰寫，將PI、Fuzzy、MRAC控制理論實現，控制進氣量的多寡，進而達成氣動馬達定速控制。 本論文使用力浦電子推出的LP-2900實驗板搭載ALTERA晶片，以進行硬體描述語言的撰寫。吾人採用模組化程式寫法，各個程式方塊功能清楚且易於偵錯。此種寫法增加了程式的可讀性，故在必要時易於作更改程式的動作，控制系統修改的彈性因而大幅提升。在設計氣動馬達控制系統中，我們不需事先得知系統的模型參數，只需知道轉速的迴授訊號，即可控制伺服閥的電壓變化，進而達到定轉速的控制。 經由實驗的結果得知，本論文成功地將PI、Fuzzy、MRAC控制以硬體描述語言實現，在氣動馬達轉速控制上具有相當好的穩定性。 The characters of pneumatic motors are the pressure and volume of inflow air to cause the rotational velocity differently.This paper use the Hardware Description Language (HDL) to accomplish the PI , Fuzzy and MRAC control theory sucessfully of rotational velocity control of pneumatic motors. This paper use the HDL code by the LP-2900 CPLD Lab produced by LEAP Electronics and the chip by ALTERA. We adopted module design in coding style. By this way , the function of each block is clearly and easy to debug.This coding style increase the readability of program and easy to modify. In the control system we just need feedback signal : rotational velocity , then control the voltages of the servo valve to accomplish the rotational velocity control of pneumatic motors. This paper is succesfully take PI,Fuzzy and MRAC control praticed by HDL code and applied in the pneumatic motors. From the experimental result,the control behavior have high stability.
