臺灣博碩士論文加值系統

本論文之目的主要在探討考慮模態觀測器動態特性之輸送流體懸臂管樑的振動控制。文中使用振動控制技術並考慮懸臂管樑及制動器之動態特性推導出系統之運動方程式。想要量測所有狀態向量是非常不實際的，應用模態觀測器方法可減輕此負擔，估測所需模態狀態，並以此模態狀態做為回授控制之依據，因此於控制設計方面，將以單一感測器，應用模態空間之觀測器及獨立模態控制修正理論以抑制結構振動，其優點在於只需針對不穩定之模態進行控制，可大幅減少運算量。另在控制設計方面，再考慮一直接回饋控制方法對系統之穩定性分析，經數值模擬得到此控制法無法使系統穩定之極限流速後，使用獨立模態控制配合模態觀測器控制方法，在其極限流速下進行系統控制，突顯出其優越之控制效果。

The purpose of this thesis was to investigate vibration control of a cantilever pipe conveying fluid considering modal observer dynamics. The pipe and the actuator dynamics were taken into account to establish the system’s equations of motion for the control formulation. It is impractical to measure all the system states. The application of an observer can be used to alleviate the burden by estimating the required modal states used for feedback control. This study used a single sensor, along with the application of a modal space observer, and applied the modified IMSC (independent modal space control) formulation for structural vibration suppression. The advantage of being able to direct the control on the unstable mode only can reduce the computation cost significantly. In addition, a systematic stability analysis was performed by using the direct feedback control. The associated limiting flow speeds were presented to illustrate the unattainable closed loop stability. The modified IMSC along with the modal observer proposed in this study was applied to overcome the dilemma and to demonstrate its superior control performance.

摘要 I
Abstract II
目錄 III
表目錄 V
圖目錄 VI
符號說明 VII
第一章 緒論 1
第二章 有限元素模型之建立 3
2.1 樑元素模型之建立 3
2.2 控制系統模型之建立 4
第三章 最佳獨立模態控制 5
3.1 特徵值與解耦之問題 5
3.2 最佳化之獨立模態控制 7
3.3 複變模態最佳控制之設計 8
3.3.1 無限加值權重 8
3.3.2 有限加值權重 12
第四章 模態觀測器 13
4.1 模態觀測器之設計 13
4.2 模態觀測器之實現 16
第五章 數值分析與討論 17
5.1 觀測器增益矩陣之設計 17
5.2 直接速度回饋控制 18
5.2.1 控制力之設計 18
5.2.2 控制彈簧係數之影響 19
5.2.3 系統穩定性分析 20
5.3 具模態觀測器之有限加值權重數值模擬 20
5.4 綜合討論 22
第六章 結論 23
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