減震平台之強韌控制器設計及安裝

Design and Implementation of Robust Controllers for an Anti-Vibration Platform

洪敏峯(Min-Feng Hong)

指導教授 ： 王富正

國立臺灣大學/工學院/機械工程學研究所/碩士(2009年)

https://doi.org/10.6342/NTU.2009.00691

摘要

本論文旨在探討於減震平台之控制器。應用擾動響應分解技巧，結合被動式與主動式的雙層減震結構，與控制迴路的設計，將來自地面的震動與桌面儀器的擾動分開控制。被動式部分用以隔離地面擾動；而主動層部分，則使用音圈馬達為致動器，搭配 迴路成型法所設計的強韌控制器，來抑制桌面儀器震動。
由於全桌減震平台是具有7個自由度的系統，因此吾人可利用對稱轉換將全桌運動模態分解成對應的半桌或單減震桌腳模型，之後再針對各別的模態：回彈、抬頭、翻滾、及彎曲設計對應的控制器。從模擬與實驗結果得知，透過擾動響應分解技巧的應用，可在不影響地面減震性能的前提下，以主動控制器來提升桌面擾動力的抑制能力，進而提升減震平台的性能。

關鍵字

擾動響應分解 ； 被動式結構 ； 主動式結構 ； 音圈馬達 ； 迴路成型法 ； 對稱轉換 ； 光學桌

並列摘要

The thesis proposes controller design and implementation of an anti-vibration platform. Using disturbance response decomposing (DRD) techniques, a double layer anti-vibration structure was used to decouple the vibrations of the system. A passive control structure was used to isolate the vibration from the ground, while an active control structure is applied to reduce the vibration form the table.
The full platform has seven degree of freedom. Applying symmetric transformation, the full table can be decoupled into corresponding quarter- and half- table models to simplify controller design. Hence, the controller design was conducted in the bounce, pitch, roll and warp modes. The simulations and experiments show that the designed controllers were able to restrain the system vibration using the DRD techniques.

並列關鍵字

Disturbance Response Decoupling ； anti-vibration platform ； symmetric transformation ； vibration control ； optical table

參考文獻

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