臺灣博碩士論文加值系統

本文主旨在探討三度空間運動下，高架式吊車(Overhead crane)的非線性動態模式和抗擺動控制。文中首先推導出包含繩索動態及考慮載重物(Payload)升降運動的吊車三度空間運動模型，提供吊車三度空間運動的一般運動模型。本文進一步針對軌跡追蹤的目的及考慮實際需要簡化一般運動模型導出不包含繩索動態以及固定繩長的運動模型。
控制器的設計分成兩方向思考：(一)針對載重物的軌跡追蹤控制，利用輸入-輸出回授線性化之非線性控制理論，對於簡化後的模型設計一控制器，此一控制器可使系統達到軌跡追蹤(Tracking)的目的。(二)雖然利用輸入-輸出回授線性化可設計出達成軌跡追蹤的控制器，但此時系統的內部動態(Internal dynamic)並非漸近穩定，對閉路系統而言內部動態是載重物和繩索的擺動，因此載重物會不停的擺動，為消除此一擺動，本文進而利用狀態回授設計了LQ穩定器。透過兩階段的控制器設計，可使系統達到軌跡追蹤同時使系統穩定，達成吾人希望的性能。文中並以數值模擬驗證所用控制理論的可行性，並探討在此控制法則下系統響應的特性。

第一章 緒 論 1
1-1 前 言 ... ... ... ... ... ... ... ... ..1
1-2 文獻回顧 ... ... ... ... ... ... ... ... 1
1-3 研究動機 ... ... ... ... ... ... ... ... 2
1-4 本文主要貢獻 ... ... ... ... ... ... ... 3
第二章 數學模型的推導 4
2-1 前 言 ... ... ... ... ... ... ... ... ..4
2-2 座標系統的建立 ... ... ... ... ... ... ..4
2-3 系統的動能和位能 ... ... ... ... ... ... 7
2-4 系統的運動方程式 ... ... ... ... ... ...10
2-5 討 論 ... ... ... ... ... ... ... ... .16
第三章 軌跡追蹤的控制器設計 20
3-1 前 言 ... ... ... ... ... ... ... ... .20
3-2 輸入-輸出回授線性化控制器設計... ... ...20
3-2-1 系統模型 ... ... ... ... ... ... ... ... 20
3-2-2 控制器設計 ... ... ... ... ... ... ... ..21
3-2-3 內部動態的穩定性分析 ... ... ... ... ... 27
3-3Stabilizer的設計 ... ... ... ... ... ... .28
3-3-1 系統線性化 ... ... ... ... ... ... ... ..28
3-3-2 LQ狀態回授控制法則 ..... ... ... ... ... 30
第四章 數值模擬結果與討論 32
4-1 前 言 ... ... ... ... ... ... ... ... .32
4-2 數值模擬數據 ... ... ... ... ... ... ...32
4-3 回授線性化之模擬 ... ... ... ... ... ...33
4-4 加上完整控制器之模擬 ... ... ... ... ...34
4-5 針對載重物質量2000kg之模擬 ... ... ... .34
4-5-1回授線性化之模擬 ... ... ... ... ... ... .34
4-5-2加上完整控制器之模擬 ... ... ... ... ... .34
4-6 模擬結果討論 ... ... ... ... ... ... ...34
第五章 結論與未來展望 57
5-1 結 論 ... ... ... ... ... ... ... ... .57
5-2 未來展望 ... ... ... ... ... ... ... ...57
參考文獻 58

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