現今氣動馬達系統在工業上的應用越來越廣泛，比如嚴禁火花的工作環境、礦工廠、化學廠等等，但是主要都侷限在精度不需要太高的應用，由於不會有過熱的現象產生，應用在相關的研究就越顯重要，所以這篇論文主要是針對系統在速度的控制上發展出模型參考控制器，也針對移動平台發展有強健性的滑模控制器。 在台灣大約有1千3百萬輛的機車，其排放出的一氧化碳、碳水化合物將近占了空氣汙染的10%，為了改善廢氣排放汙染的問題，此篇論文也提出兩個新的構想，其中之一是把氣動馬達直接加裝在摩托車上面，以高壓氣體作為能量來源，另外一個是氣壓混合引擎的構想，結合氣動馬達與傳統內燃機達到油耗減少的目的。 Nowadays, air motors are widely used in the automation industry due to special requirements, such as spark-prohibited environments, the mining industry, chemical manufacturing plants, and so on. The purpose of this thesis is to analyze the behaviors of a vane-type air motor and to design a model reference adaptive control (MRAC) with a fuzzy friction compensation scheme for speed control. The behaviors of a ball screw table powered by a vane-type air motor are analyzed and a robust sliding mode controller is designed for position control. Currently in Taiwan, there are more than 13 million motorcycles, mostly driven by internal combustion engines (ICE). The pollutants, carbon monoxide (CO) and unburned hydrocarbons (HC), generated by motorcycles are account for more than 10% of the air pollutants released to the atmosphere every year. In order to improve the air pollution condition and eliminate the pollutants exhausting, this thesis also presents two new ideas of using compressed air as the power source for motorcycles. One idea is to equip a motorcycle with an air motor, which transforms the energy stored in the compressed air into mechanical energy. The other is to develop a hybrid pneumatic motorcycle, whose driving performance and the mileage are simulated. This pneumatic hybrid motorcycle can improve efficiency with an appropriate control strategy for driving operation.
