多自由度振動台之主動即時控制系統開發與應用

Development and application of active real-time system for the control of multi-degree-of-freedom shaking table

陳宥全(Chen, You Chiuan)

指導教授 ： 杜佳穎

國立清華大學/工學院/動力機械工程學系/碩士(2012年)

https://doi.org/10.6843/NTHU.2012.00164

摘要

本研究主旨在於開發、設計及建造多自由度振動台之新型主動、即時控制系統，以配合大型工程系統之進階動態測試需求。隨著近年來天災與工程事故頻傳，完備之動態測試以評估並保障工程產品之可靠度與安全性愈加重要。然而知名MTS與Instron公司所生產之測試設備與控制系統價格昂貴、內建控制器無法彈性地依測試需求做準確度調整。有鑑於此，本論文初步並全面性地探討振動台即時控制設備之開發與應用，內容包括機台規劃與搭建、動態分析與模擬、進階控制法設計、訊號與機電整合、自主測試功能開發，並探討即時測試中可能會遇到的各種控制、量測、運算、監測等等問題，以尋找解決方案。
振動台廣泛常見於地震、土木工程實驗室，以模擬真實地震運動並測試結構之耐震表現。本論文搭建四軸致動器輸入、三自由度輸出之振動台，並推導其順向與反向運動學，以建立致動器伸縮量與振動台中心位移之關係式；在順向運動學推導中，我們提出忽略高次項誤差的方式，來簡化即時運算流程，進而設計進階狀態反饋控制器，以保持追蹤強健性；另使用dSPACE硬體設備，以開發即時控制與監測系統、配合動態測試需求。
本研究開發之新型即時控制系統包含初始化設定、自調變輸入與控制參數等等自主功能；測試結果證明，無論振動台有無搭載試體，進階外迴路控制器較內建控制器更有效的保持追蹤強健性，促使動態測試結果更準確。未來將進一步應用本論文發展之即時控制技術，至國家地震中心之小型油壓振動台測試，以增加臺灣地震工程動態測試品值與能量。

關鍵字

振動台 ； 主動即時測試

並列摘要

Development of real-time control system for multi-degree-of-freedom shaking table is considered in this study, in order to cope with advanced dynamic testing of large-scale engineering systems. In recent years, natural disasters and engineering accidents are frequently reported, high-quality dynamic tests to evaluate and ensure the reliability and security of engineered products, is increasingly important. However, the testing machines and control systems developed by the well-known MTS and Instron Corporation are expensive, and the built-in controller cannot be adjusted with flexibility according to the testing requirements. Therefore, the preliminary objective of this thesis is to investigate the development and application of shaking table real-time control systems, including mechanical design, construction, dynamic modeling and analysis, advanced controller design, sensing, and mechtronics. We also search for the solution to real-time issues associated with control, measurement, computation, monitoring and so on.
Shaking tables are widely applied in earthquake and civil engineering laboratories to simulate seismic waves and to test the vibration-isolation performance of structural systems. This thesis builds a shaking table with four-axis inputs, three-degrees-of-freedom outputs. The derivation of forward and inverse kinematics is included, in order to establish the relation between actuator displacements and the shaking table position. In the forward kinematics, we ignore the high-order error terms in order to simplify the on-line computation. Then, advanced state feedback controller is developed to enhance the tracking robustness of the shaking table. The dSPACE hardware is used to develop real-time controllers and monitoring interfaces.
The real-time control system developed in this thesis contains the functionality of initialization and adjustable control parameters, in order to promote the flexibility of executing dynamic tests. The experimental results prove that regardless of the shaking table with or without carrying structural specimen, the outer-loop state feedback controller is more effective than the built-in controller to keep the tracking accuracy. In the future, the real-time techniques developed in this thesis will be applied to control and testing of a small-scale hydraulic shaking table in National Center for Research on Earthquake Engineering, in order to enhance the testing quality of civil engineering research.

並列關鍵字

shaking table ； active real-time control

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