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研究生:鄒永楷
研究生(外文):Yong-KaiTsou
論文名稱:應用伺服馬達控制平台進行主動質量阻尼器之研發與測試
論文名稱(外文):Application of Servo-Motor Controlled Platform as Active Mass Damper on Vibration Control and its Experimental Verification
指導教授:朱世禹
指導教授(外文):Shih-Yu Chu
學位類別:碩士
校院名稱:國立成功大學
系所名稱:土木工程學系碩博士班
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:2012
畢業學年度:100
語文別:中文
論文頁數:168
中文關鍵詞:主動質量阻尼器直接輸出回饋離散時間最佳化控制理論半模擬實驗時間延遲效應
外文關鍵詞:Active mass damperDirect output feedback controlDiscrete-time optimal control theoryPseudo-simulation testing frameworkTime delay effect
相關次數:
  • 被引用被引用:2
  • 點閱點閱:306
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
由於外力形式之隨機特性與系統識別之誤差,傳統被動調諧質量阻尼器(TMD)系統對於頻率去調諧效應十分敏感,而藉由主動質量阻尼器(AMD)進行額外主動控制力施加輔助時,時間延遲效應勢必產生,為提供此一控制系統於實務應用上之設計與安裝準則,並配合電腦數位控制裝置之運作,本文以離散時間數位控制理論為基礎,考慮時間延遲影響,運用最佳化直接輸出回饋控制法則,進行LabVIEW控制軟體程式之開發,並利用伺服馬達控制平台作為AMD系統之開發與測試。該平台利用伺服馬達帶動滾珠螺桿之機械原理,驅動單軸向運動,平台加上質量塊後便可作為AMD系統之雛型。文中利用電腦模擬單自由度結構裝設AMD系統於不同地震之受控反應,同時回饋伺服控制平台之真實量測訊號,提出測試AMD系統控制成效之半模擬實驗架構。半模擬實驗架構除可初步驗證整體控制系統及控制理論之可行性,更可利用其探討時間延遲對控制效果之影響,以利進行實體結構控制實驗之規畫應用。實驗結果顯示使用對應系統延遲時間所求出之控制增益參數,可得到最佳的控制成效,且系統的穩定性較佳。
The vibration mitigation performance of a conventional tuned mass damper system (TMD) is very sensitive to the fluctuation in tuning of the designed frequency to the natural frequency of the main system. Because of the stochastic characteristics of external loading and errors of identifying system parameters, an active mass damper (AMD) system with optimal selection on control parameters can enhance the designed performance with the help of a supplementary active force acted between the main system and the mass damper. In order to investigate the interactive control performance and time delay effect, a “pseudo-simulation testing framework” is proposed in this study. A servo-motor controlled platform that can be manipulated as an AMD system is controlled through LabVIEW and is interacted with the main structure simulated by its numerical model in computer. The experimental verification of direct output feedback control theory and the effect of time delay are tested by this framework. By applying optimal discrete-time output-feedback gain in consideration of delay time, the structural response can be reduced effectively and its stability can be maintained as well.
論文摘要 I
ABSTRACT II
誌謝 III
目錄 IV
表目錄 VI
圖目錄 VII
符號表 XV
第1章 緒論 1
1.1 前言 1
1.2 文獻回顧 3
1.3 本文內容 7
第2章 主動型質量阻尼器分析理論 9
2.1 廣義系統運動方程式 9
2.2 連續時間系統離散化 12
2.3 直接輸出控制增益理論 14
2.3.1 連續時間控制增益 14
2.3.2 離散時間控制增益 18
2.4 時間域以及頻率域分析 24
2.4.1 離散時間系統數值模擬流程 24
2.4.2 連續時間系統穩定性分析 25
2.4.3 離散時間系統穩定性分析 26
第3章 振動台系統 34
3.1 硬體介紹 35
3.1.1 振動台使用前須知 35
3.1.2 振動台外觀和基本元件 35
3.1.3 運動控制卡(NI PCI-7340)和振動台控制箱 37
3.2 MAE軟體 38
3.2.1 振動台馬達轉速設定 38
3.2.2 PID參數設定 39
3.2.3 振動台位置設定 39
3.3 LABVIEW軟體 39
3.3.1 電位計量測訊號 40
3.3.2 單軸向運動 41
3.4 硬體和軟體使用以及相關測試 42
3.4.1 振動台位置歸零 42
3.4.2 電位計檢測 42
3.4.3 伺服馬達工作範圍 44
3.4.4 系統延遲時間(Time delay)檢測 48
3.5 運用LABVIEW開發振動台基本功能 49
3.5.1 單頻振波控制程式 49
3.5.2 地震振波控制程式 50
3.6 運用LABVIEW開發AMD控制程式與半模擬實驗架構 50
3.6.1 控制流程 50
3.6.2 半模擬實驗架構系統參數說明 51
3.6.3 振動台合適工作速度測試 52
第4章 半模擬實驗之實測結果 80
4.1 直接輸出回饋控制成效 81
4.1.1 固定系統延遲時間,變動控制參數 82
4.1.2 變動系統延遲時間,固定控制參數 84
4.1.3 不同延遲時間系統使用對應之控制參數 86
4.1.4 時間延遲設定驗證 88
4.2 全狀態回饋控制成效 89
4.2.1 和數值模擬結果比較 89
4.2.2 和直接輸出回饋控制結果比較 89
4.3 半模擬實驗之模擬控制力與AMD慣性力之比較 91
第5章 結論與展望 151
參考文獻 156
附錄A 、LABVIEW元件說明及使用技巧 160


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