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研究生:黃元柏
研究生(外文):Yuan-Po Huang
論文名稱:應用H∞直接輸出回饋之高速電梯水平振動控制
論文名稱(外文):Horizontal Vibration Control of High-Speed Elevator Based on H∞ Direct Output Feedback
指導教授:林其璋林其璋引用關係
學位類別:碩士
校院名稱:國立中興大學
系所名稱:土木工程學系所
學門:工程學門
學類:土木工程學類
論文種類:學術論文
論文出版年:2008
畢業學年度:96
語文別:中文
論文頁數:40
中文關鍵詞:高速電梯主動質量驅動裝置H∞主動控制振動控制
外文關鍵詞:High-Speed ElevatorActive Mass DriverH∞ controlVibration Control
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隨著超高層建築的發展,電梯運行速度必須快速提升,以減少電梯等待及搭乘的時間,但亦使得電梯之水平振動愈顯著,進而影響乘坐之舒適性甚至車體結構之安全,同時也會降低電梯的使用壽命。電梯水平振動之成因乃電梯運行過程中導軌的變形、導軌工作面粗糙度、導軌組裝誤差造成的不平整及運行過程中產生之空氣湍流。
  本文發展H∞主動控制策略,應用主動質塊驅動裝置以降低車廂體之水平振動加速度,以改善搭乘電梯之舒適感,增進電梯安全。首先建立電梯系統運行多自由度動態方程式,探討造成車廂體水平振動之外力特性,分析電梯車廂體振動反應,同時應用具強健性之H∞控制理論計算最佳施加控制力大小,並進行數值模擬驗證,確保主動質塊驅動裝置之控制效用。
More and more skyscrapers have been built in recent years. To save travel-time by the elevator, high-speed elevators are required. An horizontal vibration problem is occurred when the elevator-box travels in the high velocity. Such vibration problem is due to natural deformation of the guide rails or human-errors when assemble the whole elevator structures and systems or eddy current when the system is operating. This kind of vibration makes passengers uncomfortable while riding high-speed elevator and cause a possible vehicle failure problem.
This paper develops an active control strategy using H∞ and applies it on the high-speed elevator to reduce horizontal vibration. A MDOF high-speed elevator system and corresponding equation of motion are built for this particular study. The numerical simulation using robust H∞ control theory is then applied to the system to determine the optimized control forces to ensure the efficiency of the AMD.
謝誌..........................................i
摘要..........................................ii
Abstract......................................iii
目錄..........................................iv
表目錄........................................vii
圖目錄........................................x
第一章 緒論...................................1
1.1 研究動機與目的............................1
1.2 文獻回顧..................................2
1.3 本文內容..................................5
第二章 電梯系統構成與振動問題.................7
2.1 電梯系統裝置之組成........................7
2.1.1 車廂....................................7
2.1.2 導軌....................................8
2.1.3 導靴....................................8
2.2 電梯系統在運行中之振動特性................9
2.2.1 水平振動................................9
2.2.2 高速電梯振動控制........................9
2.3 電梯系統水平振動模式......................11
2.3.1 導輪及車廂框架與廂底之間的橡膠墊........11
2.3.2 導軌變形模式建立........................11
2.3.3 車廂水平振動模型之建立..................12
第三章 應用 控制於電梯裝設AMD之理論推演.......18
3.1 輸出回饋控制理論.........................18
3.1.1 控制系統運動方程式之建立................18
3.1.2 輸出回饋控制推導.......................20
3.2 電梯結構裝設AMD之H∞控制..................23
3.3 控制輸出之選擇............................25
第四章 應用H∞控制於電梯裝設AMD之效用探討.....26
4.1 控制參數選擇之探討........................26
4.2 裝設AMD於不同位址之頻率域分析.............28
4.3 裝設AMD於不同位址之時域分析...............30
第五章 時間延遲系統穩定分析...................32
5.1時間延遲與系統模態特性.....................32
5.2 時間延遲對轉換函數之影響..................33
5.3 最大延遲時間..............................33
第六章 結論與建議.............................35
參考文獻......................................37
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