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研究生:徐坤榮
研究生(外文):Kuen-rung Shiu
論文名稱:振動系統之主動控制器設計
論文名稱(外文):Active Controller Design of Vibration Systems
指導教授:黃安橋
指導教授(外文):An-Chyau Huang
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:機械工程系
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:2009
畢業學年度:97
語文別:中文
論文頁數:66
中文關鍵詞:振動系統減振器函數近似法欠驅動系統
外文關鍵詞:vibration systemvibration absorbersFATunderactuated system
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本論文針對欠驅動振動系統提出一適應控制器,達到減振效果。由於一般振動系統受到外力頻率改變時,傳統被動式減振器的抑制效果不佳。若系統參數具有時變、非線性行為時,該減振器更難以得到期望的性能。本文依據外部動態行為設計FAT適應控制器,雖然可以有效抑制系統振動,但無法規範減振器之振幅。為了限制減振器本身的振動,提出以Olfati轉換,將系統化為一標準串接結構,據以設計適應多面滑動控制器(Adaptive Multiple Surface Sliding Control, AMSSC),以掌控系統與減振器之動態行為。最後,利用電腦模擬驗證控制器的可行性。
Traditional passive vibration absorbers are very effective for systems with known dynamics and known excitation sources. They are not capable of giving acceptable performance when the system contains uncertainties. This thesis proposes adaptive strategies for uncertain vibration systems. Firstly, a FAT-based controller is designed for the external dynamics. The output error can be proved to be uniformly ultimately bounded, while the magnitude of the internal states can only be bounded. This implies that some unacceptable large vibration in the absorber dynamics might appear. The Olfati transformation is therefore proposed to represent the system in a special cascade from without internal dynamics. However, various system uncertainties will enter the new system dynamics in a mismatched fashion giving difficulties in controller designs. Here, we suggest to apply the adaptive multiple-surface sliding controller to deal with the mismatched system uncertainties. It is proved that we may still arrive at the uniformly ultimately bounded performance for the system states both in the original space and the transformed space. Computer simulation cases are performed to show effectiveness of the proposed schemes.
中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
圖表索引 V

第一章 緒論 1
第二章 被動減振器設計與分析 2
2.1 線性振動系統模型推導與頻域分析 3
2.2 線性振動系統時域分析 9
2.3 非線性振動系統模型推導 12
2.4 非線性振動系統時域分析 14
第三章 非自主性振動系統之適應滑動控制 15
3.1 系統架構與狀態模型推導 15
3.2 FAT適應控制器 17
3.3 系統穩定度證明 19
3.4 電腦模擬 20
第四章 欠驅動振動系統之控制器設計 36
4.1 Olfati轉換推導 36
4.2 適應多面滑動控制器設計 37
4.3 系統穩定度證明 41
4.4 電腦模擬 43
第五章 結論 52
參考文獻 53
作者簡介 56
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