單滾珠自動平衡裝置之穩定性設計

Stability Design of the Automatic Balancing System with Single Ball

唐世豪(Shih-Hao Tang)

指導教授 ： 傅增棣

國立臺灣大學/工學院/機械工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.02461

摘要

本研究主要嘗試應用相對穩定性之概念，對於單滾珠自動平衡裝置進行穩定強度之分析，並導入系統線性化賈可比矩陣特徵值中最大之實數部值作為相對穩定性分析的指標。藉由 之理論分析以及虛擬原型之暫態時域測試，得知 對於系統的收斂時間可以進行有效之預測，將可提供未來設計者在尋求兼具系統穩定及快速收斂特性時，參數數值設定的參考。

關鍵字

虛擬原型 ； 相對穩定性 ； 自動平衡裝置

並列摘要

In this present study, the concept of relative stability is applied to the stability design of the automatic balancing system with single ball. The maximum real part of the eigenvalues from linearized Jacobian matrix, which is denoted as , is employed as an index for relative stability. Analytical analyses of relative stability and corresponding virtual prototyping simulation are both taken in this research to explore the correlation between settling time and . According to this approach, it is concluded that can be used as a useful index in predicting the settling time of this system. Design engineers can then not only make the system stable but also reduce the time for the system to become stable.

並列關鍵字

relative stability ； automatic balancing system ； virtual prototyping

參考文獻

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