臺灣博碩士論文加值系統

本論文主要運用離散與分佈參數模式，以探討迴轉撓性結構之動力與控制
。首先應用一偶合模式分析撓性結構系統在剛體運動下之動態反應。經由
理論分析及實驗顯示，剛體運動與撓性振動產生偶合現象，進而影響系統
之自然頻率。針對迴轉撓性結構之振動控制，本文於離散參數模式中推導
兩階段束制運動法，主動阻尼束制運動法，及此二者之結合等三種控制方
法以為結構減振。經由分析與實驗顯示這些方法不僅能準確完成迴轉任務
，並可有效消除迴轉運動過程中所產生之結構振動。參數模式產生殘餘模
態之溢出問題，本文亦提出一具溢出穩定化功能之 "最佳輸出迴授控制"
法則。藉此則殘餘模態之觀測溢出可完全去除，控制溢出之影響並能降至
最低，亦同時滿足系統之穩定與性能需求。本文並將此輸出迴授控制推廣
至分佈參數系統，以進行迴轉撓性結構之分佈參數模式的狀態空間控制器
設計。相較於一般之狀態迴授控制，此法可避免困難且不切實際之分佈狀
態觀測及泛函數增益等問題。此外，並可經由根軌跡法推導出一穩定化準
則以進行分佈參數模式的穩定控制器設計。理論分析顯示不適當之離散參
數模式將導致錯誤的結果，而經由分佈參數模式之分析將可克服殘餘模態
之溢出問題，並收結構減振之效。

Dynamics and control of slewing flexible structures are studied
in this dissertation with both discrete and distributed
parameter models. A formulation is presented for analyzing
flexible structures with coupled rigid-body motion and elastic
vibration. Both analytical and experimental results indicate
that the system natural frequencies are affected by the coupled
rigid-body motion. Based on this dynamics interaction, the
constrained motion method is developed from high-authority
control and low-authority control architecture for application
to the discrete model of slewing flexible structure vibration
control, and the effectiveness is experimentally validated in a
fast slewing maneuver test setup. In addition, an optimal
output feedback control is also developed to overcome the
spillover problem associated with the discrete model. The
condition of observation spillover stabilization is derived and
the performance degradation from control spillover can be
minimized. The state-space controller design for distributed
parameter model is developed by extending the optimal output
feedback control derived in discrete model. Compared with the
control law derived with state feedback, estimation or
measurement of the distributed states is no longer required and
the impractical distributed functional gain can be avoided. A
stability criterion is developed from the root locus method for
the vibration control of slewing flexible structures in
frequency domain. The stability criterion is effective in
stable controller design, and the spillover problem from
discrete model is no longer an issue.

摘要
ABSTRACT
CONTENTS
LIST OF TABLES
LIST OF FIGURES
NOMENCLATURE
1 INTRODUCTION
1.1 Motivation of Research
1.2 Literature Review
1.3 Scope and Outline
2 DYNAMICS OF FLEXIBLE STRUCTURES WITH COUPLED RIGID-BODY MOTION
2.1 Introduction
2.2 Analytical Model
2.3 Experimental Modal Analysis
2.4 Model Testing of a Flexible Beam with Rigid-Body Motion
2.5 Nonlinear Response
2.6 Conclusions
3 VIBRATION CONTROL OF SLEWING FLEXIBLE STRUCTURES
3.1 Introduction
3.2 High-Authority Control
3.3 Low-Authority Control
3.4 Conclusions
4 OPTIMAL OUPTUT FEEDBACK CONTROL WITH SPILLOVER STABILIZATION
4.1 Introduction
4.2 Problem Formulation
4.3 P[to,a; Pit[it Feedback with Primary Modes
4.4 Spillover Stabilization with Velocity Feedback
4.5 Application to Slewing Flexible Structures
4.6 Conclusions
5 OUTPUT FEEDBACK CONTROL OF DISTRIBUTED PARAMETER SYSTEMS
5.1 Introduction
5.2 Optimal State Feedback Control of Distributed Parameter Systems
5.3 Output Feedback Control of Distributed Parameter Systems
5.4 Application of the Output Feedback Control
5.5 Output Feedback Control with Spatial Discretization
5.6 Conclusions
6 FREQUENCY DOMAIN CONTROL OF DISTRIBUTED PARAMETER SYSTEMS
6.1 Introduction
6.2 Stability Analysis
6.3 Stable Controller Design
6.4 Conclusions
7 SUMMARY AND CONCLUSIONS
REFERENCES