臺灣博碩士論文加值系統

從20世紀70年代初，資訊科技發展推動全球進入第三次工業革命，這場以數位化為核心的變革，使傳統工業更加機械化、自動化，人們生活更加地安全及便利；其中，如機器人及車輛安全系統等，無不以自動控制為基礎，使得自動控制相關研究及人才培訓成為各國相當重要的課題。
本研究設計並建構出一套自動控制實驗平台，使研究單位可根據不同的研究目的，更換平台上掛載的質量體，在不需要做大幅度變動的情況下，即可用來做系統開發的先期驗證及研究，以減少電腦模擬與實際系統間的差距，加快系統的研發速度。除此之外，學術單位亦可利用此平台，讓學生實際體會不同控制系統的效果及影響，直接看到成果，提高學習興趣，縮短學術與產業界的落差，增加教學的效果。
為驗證實驗平台的實用性，本研究以輸入修正法(Input Shaping)之減震效果為題，利用數位訊號處理器(Digital Signal Processor)的脈衝寬度調變(Pulse Width Modulation, PWM)訊號控制平台上載體或質量體的位移，並透過編碼器訊號取得位置，以驗證實際的控制效果；本研究共使用兩種不同的掛載質量體來驗證此題目，並設計出適當的控制器及路徑，從兩組實驗數據來看，不論模擬或是實際測試，皆可看到輸入修正法對系統振動確實有一定的抑制效果，以此驗證實驗平台的實用性。

From the early 1970s, the development of information technology pushed the world into the third industrial revolution. This revolution with digitalization has made traditional industries more mechanized and automated, and people’s lives are more convenient and safer. These automated machines, such as robots and vehicle safety systems, are all based on automatic control technologies. That means research and training of automatic control is a very important topic in various countries.
In this thesis, we designed and constructed an experimental platform of automatic control systems so that research institutes can simply change the load mounted on the platform according to different research purposes, and can be used for system development without major changes. This platform can reduce the gap between simulations and actual systems for early verification and research, and speed up the development of the system. In addition, academic units can also use this platform to allow students to learn different control methodologies, directly see the results, increase learning interests, shorten the gap between academia and industry, and increase the effectiveness of teaching.
In order to verify the practicability of the experimental platform, this thesis focuses on vibration suppression by input shaping method. We use DSP's PWM to control the displacement of the carrier or the load on the platform, and obtain the positions from the encoders to verify the result. We used two different loads to do experiments, and designed the appropriate controller and path. According to the experimental data, whether in simulation or actual testing, the system’s vibration has been obviously suppressed. This proves the practicability of the platform.

摘要 i
ABSTRACT iii
誌謝 v
目錄 vi
圖目錄 viii
表目錄 xi
第一章 緒論 1
1.1 研究背景 1
1.2 研究目的 2
1.3 研究貢獻 3
1.4 論文架構 4
第二章 相關研究 5
2.1 輸入修正法 5
2.2 天車控制 6
2.3 最佳化控制器 8
第三章 硬體介紹 10
3.1 平台硬體架構 10
3.1.1 平台本體 10
3.1.2 質量負載 12
3.2 數位訊號處理器 16
3.3 電位轉換電路 17
第四章 系統模型 20
4.1 模型推導 20
4.2 系統鑑別 24
4.2.1 死區補償 24
4.2.2 參數鑑別 26
4.3 天車模型比較 38
第五章 控制器設計與路徑規劃 41
5.1 控制器設計 41
5.1.1 互質分解及Q參數化 42
5.1.2 時域最佳化 45
5.1.3 頻域限制條件 47
5.1.4 頻域限制時域最佳化控制器 49
5.1.5 控制器實現 49
5.2 二階系統振動之模擬 55
5.3 運動路徑規劃 57
5.3.1 實驗路徑規劃 58
第六章 輸入修正法 60
6.1 修正法簡介 60
6.2 輸入修正器 63
第七章 模擬及實驗結果 68
7.1 實驗模擬 68
7.2 實驗結果 75
第八章 結論與未來展望 80
8.1 結論 80
8.2 未來展望 80
參考文獻 81

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