臺灣博碩士論文加值系統

天車系統為陸上以及工廠負責搬運重物或是貨櫃的運輸工具之一，在人為操作時，天車的加減速會使得吊載的物體產生晃動的現象，可能會導致纜繩斷裂或是負載物掉落，進而使得人員的安全受到威脅。為了避免這種情況並有效的控制天車系統，我們發展一種類似滑動控制理論的控制方法求出控制器的控制法則，並且利用李安波諾夫穩定法則證明控制器加入天車系統的穩定性，使得天車能在啟動、停止、及行進中，皆具有較小的負載物晃動角度並能快速的到達預定的位置。本研究中，利用類似滑動控制的理論設計控制器，並將所發展出的控制方法分別用電腦模擬以及實驗平台來完成控制器的控制結果，電腦模擬方面利用MATLAB/SIMULINK圖控式介面軟體來模擬天車系統的控制表現結果，實驗平台方面利用飛統有限公司所設計的天車平台搭配MATLAB/SIMULINK的XPC即時控制介面來完成天車實驗平台的控制表現結果，經由電腦模擬的結果與實驗平台的結果可驗證本研究所設計的控制器可行性。如此在工程應用中，不僅可達到自動化控制，也增加工程人員的安全性。

A crane system is one of the major measures to carry heavy objects or containers on land and in factories. During operation, the acceleration and deceleration of a trolley can make hanging objects sway. This may lead to the break of the cable or dropping of the load and leave people in danger. To avoid these situations and to effectively control the crane systems, this research proposed a sliding-mode-like control method to make the crane system sway with smaller angles and reach the desire position with less time. In this research, the control simulation package Matlab/Simulink is used for computer simulations. The hardware of the crane system with the Matlab/Simulink/XPC realtime control environments is used for obtaining the experimental results of the controller proposed by this research. All the control methods proposed in this research are verified by computer simulations and experimental results.

摘要..........................................................I
Abstract......................................................II
誌謝........................................................III
目錄........................................................IV
圖目錄......................................................VI
第1章 緒論...................................................1
1.1 前言.................... ...........................1
1.2 文獻回顧............................................2
1.3 論文內容............................................4
第2章 雙軸向天車系統動態方程式的建立.........................5
2.1 推導動態方程式的假設................................6
2.2 動態方程式的建立....................................6
2.2.1 擺錘的位置....................................6
2.2.2 天車系統的動能...............................10
2.2.3 天車系統之位能...............................10
2.2.4 天車系統動態方程式...........................10
第3章 控制器設計............................................16
3.1 控制器設計.........................................16

3.2 控制器的穩定性.....................................28
第4章 模擬驗證..............................................32
4.1 PD控制器的模擬....................................32
4.2 類滑動控制器的模擬.................................36
4.3 結果與討論.........................................39
第5章 實驗驗證..............................................43
5.1 實驗設備...........................................43
5.2 PD控制器的實驗....................................46
5.3 類滑動控制器的實驗.................................49
5.4 實驗結果與討論.....................................51
第6章 結論與展望............................................55
6.1 研究成果與結論.....................................55
6.2 未來研究方向.......................................56
參考文獻....................................................57
作者簡介....................................................59

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