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研究生:葉俊欣
研究生(外文):Chun-Hsin Yeh
論文名稱:新型防振系統之強健性量化回授控制
論文名稱(外文):Robust QFT Control of a Novel Vibration Isolation System
指導教授:蔡孟勳蔡孟勳引用關係
指導教授(外文):Meng-Shiun Tsai
學位類別:碩士
校院名稱:國立中正大學
系所名稱:機械工程所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2005
畢業學年度:93
語文別:中文
論文頁數:60
中文關鍵詞:強健控制防振系統量化回授理論
外文關鍵詞:vibration isolation systemrobustQFT
相關次數:
  • 被引用被引用:10
  • 點閱點閱:903
  • 評分評分:
  • 下載下載:57
  • 收藏至我的研究室書目清單書目收藏:0
本文主要探討新架構的主被動隔振平台之動態分析與控制。首先針對隔振平台進行動態推導,並利用實驗方法進行參數鑑別系統參數。然後將負載重量變化、磁滯效應等視為系統之不確定性,並提出不確定模型來描述此不確定量,最後利用量化回授理論並考慮不確定性模型來設計控制器,以確保系統在不同載重下依然能保有不錯的減振效果,由閉迴路實驗結果驗證,新型的隔振平台在不同的載重下,控制頻寬內(2Hz-80Hz)平均約有14dB的減振效果,而系統第一共振頻(31Hz~35Hz)皆能有約35dB的減振效果。
In this thesis, we investigate dynamic model and robust control of a novel vibration isolation system. First, we model the equations of motion for the vibration isolation system, and perform experiments to identify system parameters of the equation of motion. The hysteresis and variable loading weight effects are considered as system uncertainties, and are represented by the purposed approximate model. Then we can design a QFT controller with consideration of the approximate model to ensure that vibration isolation can achieve high disturbance rejection performance under variable loading conditions. It is shown from the closed loop experiments that the designed controller can achieve an average –14dB disturbance rejection within the bandwidth of 2-80Hz and –35dB disturbance rejection at the first resonance frequency for the novel vibration isolation system.
第一章 前言 1
1.1 回獻回顧 1
1.2 研究動機與目的 3
1.3 論文大綱 3
第二章 系統動態模型推導及分析 5
2.1 新型主被動式防振平台架構 5
2.2 新型主被動式防振平台動態推導 5
2.2.1 壓電致動器的特性與動態 6
2.2.2 新型主被動式防振平台垂直方向動態方程式推導 8
2.2.3 新型主被動式防振平台水平方向動態方程式推導 10
2.3 新型防振平台特性分析 11
第三章 QFT及Loop shaping簡介 21
3.1 QFT簡介 21
3.1.1 受控場板塊(Plant Template) 21
3.1.2 QFT規格界限(QFT Bounds) 23
3.2 Loop shaping簡介 24
3.2.1 Loop Gain 設計 25
3.2.2 靈敏度函數共振峰值與系統穩定度之關係 27
第四章 受控場及不確定性模型的建立 34
4.1 實驗架構與開迴路實驗 34
4.2 不確定性模型 35
4.3 不確定性模型的建立 35
4.4 建立受控場板塊(template) 37
第五章 控制器設計與實驗 46
5.1 閉迴路實驗架構 46
5.2 規格制定 46
5.3 控制器設計與實驗 48
第六章 結論與未來工作 58
參考文獻 59
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