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系統識別號 U0026-1008201118345600
論文名稱(中文) 有限元素分析於撓性長距離移動系統之輸入修正設計與應用
論文名稱(英文) Finite Element Simulations for Input Shaping Design of Flexible Long Range Motion Systems: Analyses and Applications
校院名稱 成功大學
系所名稱(中) 機械工程學系碩博士班
系所名稱(英) Department of Mechanical Engineering
學年度 99
學期 2
出版年 100
研究生(中文) 陳韋如
研究生(英文) Wei-Ju Chen
學號 N16984395
學位類別 碩士
語文別 中文
論文頁數 179頁
口試委員 指導教授-陳國聲
口試委員-陳彥銘
口試委員-田思齊
口試委員-劉雲輝
中文關鍵字 長距離移動系統  輸入修正法  輸入修正波形設計  有限元素法 
英文關鍵字 Input Shaping  Finite Element Method  Residual Vibration  Robustness 
學科別分類
中文摘要 長距離移動系統常用於傳送運輸或精密定位等用途,系統運作過程將因致動器加減速造成晃動量,並於完成作動後殘餘殘留振動量,降低系統工作精度與效率,並增加工作時間,甚至造成工安威脅。常見的振動抑制策略有改變或增加系統結構以減小可能的晃動,或以回授控制的方式對系統進行振動抑制,此方法提供了系統對抗外界干擾的能力,並具有良好的強健性,但須加裝額外的感測器與回授控制之致動器,大幅增加系統成本與複雜度。而輸入修正法提供了一個經濟且簡便的減振方式,然而其對抗外界干擾的能力較低,因此輸入修正波形的強健性便成為應用上的重要考量,本文提出一種新的輸入修正波形,可消除系統雙重振動模態的振動量,同時可使系統作動時間與傳統波形差距不大的情形下具有更佳的強健性。同時以有限元素法模擬撓性長距離移動架構,以輸入修正法對系統進行振動抑制,相較於解析解可更詳細描述系統之運動行為,且在多自由度系統的模擬上具有更佳的便利性。藉由長距離移動系統中常見的天車系統與機械手臂系統之等效模型的實驗結果與有限元素法之動態分析結果比較驗證其準確性,將有限元素法的應用延伸至實際尺寸之長距離移動系統,討論各種輸入修正方法於系統之振動抑制情況。研究結果顯示各種輸入修正法於不同的撓性長距離移動系統下皆可大幅降低系統overshoot,並可降低85%以上的系統振動量。本研究將有助於長距離移動系統振動抑制之相關應用。
英文摘要 Flexible long range motion systems, such as gantry cranes and robot arms, have been widely used for objects transportation and precision positioning tasks. However, the motion-induced swing and residual vibration generated during fast maneuvers could result in extra time for settling and thus reduce the system performance. Input shaping is an effective method for achieving fast transportation without exciting extra residual vibration. Traditionally, the design of input shaping is based on simple lumped parameter models and linear superposition principle. However, with the increase in system complexity, it is challenging for performing accurate lumped parameter modeling. Consequently, the performance of input shape design based on traditional approach would be deteriorated. In this work, input shaping design based on finite element (FE) dynamic analysis is used. A flexible double pendulum stage and a flexible bending/torsion beam structure have been constructed to perform necessary experiments for the purpose of evaluating the accuracy and effectiveness of the used design scheme. Both simulation and experimental data exhibit highly correlated results and it indicates that the traditional schemes such as ZV, ZVD, ZVZV, and ZVDZVD can yield satisfactory performance after using FE analysis result as the shaper design basis. In addition, for counting the situation of insufficient actuator bandwidth, a half ZV (HZV) and a half double ZV (HDZV) shapers are also proposed and their performances are evaluated and justified via a series of robustness studies. Finally, several simulation case studies in transportation of container for container ship and workpieces in factory, as well as fast positioning of flexible probes in mechanical measurement systems, have been investigated and the results indicate that input shaping can effectively enhance the transportation efficiency of these applications and the design of input shaper based on finite element dynamic analysis would be a viable approach for flexible systems with complicate dynamics and constrains such as non-holonomic systems.
論文目次 摘要 I
Abstract II
致謝 III
目錄 V
表目錄 IX
圖目錄 X
符號說明 XX
第一章 緒論
1.1 前言 1
1.2 文獻回顧 5
1.3 研究動機及目的 9
1.4 全文架構 10
第二章 相關背景介紹
2.1 本章介紹 12
2.2 輸入修正法背景 14
2.2.1 輸入修正法之原理與數學推導 14
2.2.2輸入修正法之控制 17
2.3 輸入修正法之相關研究 19
2.3.1輸入修正法設計之相關研究 19
2.3.2輸入修正法應用之相關研究 21
2.3.3本實驗室之輸入修正法相關研究 26
2.4 長距離移動系統 29
2.4.1 長距離移動系統 29
2.4.2 長距離移動系統實例 32
2.5 有限元素法運動狀態模擬 33
2.6 本章結論 36
第三章 長距離移動系統之輸入修正波形設計
3.1 本章介紹 38
3.2 輸入修正法設計 39
3.2.1 Zero Vibration (ZV) 法 40
3.2.2 Half Zero Vibration (HZV)法 41
3.2.3 Zero Vibration and Derivative (ZVD)法 43
3.3 致動器頻寬不足之問題討論 45
3.3.1 頻寬不足問題定義 45
3.3.2 頻寬不足於系統之討論 46
3.4 雙重模態輸入修正設計 51
3.4.1 ZVZV法 51
3.4.2 HDZV法 53
3.4.3 ZVDZVD法 54
3.5 本章結論 57
第四章 天車等效系統振動抑制實驗
4.1 本章介紹 59
4.2 實驗系統建立 60
4.2.1 天車等效雙單擺系統 60
4.2.2 雙單擺系統之各結構 62
4.2.3 整體實驗架構 64
4.2.4 系統重要參數量測 66
4.3 輸入修正法之振動抑制結果 67
4.3.1 未使用輸入修正法 67
4.3.2 使用不同輸入修正法 69
4.4 時間參數不確定之強健性討論 72
4.5 本章結論 79
第五章 天車等效系統有限元素模型建立與驗證
5.1 本章介紹 81
5.2 有限元素法模擬之動機 82
5.3 天車等效系統有限元素法模型建立 84
5.4 天車等效系統有限元素模型之準確性 89
5.5 本章結論 96
第六章 機械手臂模型振動抑制之有限元素模擬與實驗驗證
6.1 本章介紹 98
6.2 系統建立 99
6.2.1 實驗架構建立 100
6.2.2 模擬架構建立 104
6.3 實驗驗證與模擬分析 107
6.3.1 未使用輸入修正法 107
6.3.2使用不同輸入修正法 110
6.4 強健性討論 115
6.5 本章結論 119
第七章 有限元素法於長距離移動系統振動抑制之模擬應用
7.1 本章介紹 121
7.2 碼頭貨櫃起降運輸系統 122
7.3 工廠倉儲貨物起降天車系統 129
7.4 二次元、三次元量測儀檢測系統 138
7.5 本章結論 143
第八章 研究結果討論
8.1 本章介紹 145
8.2 輸入修正法於致動器效能之討論 146
8.3 有限元素法於長距離移動系統之動態分析準確性討論 148
8.3.1 撓性雙單擺架構 148
8.3.2 機械手臂架構 152
8.4 有限元素法於長距離移動系統振動抑制之延伸應用 156
8.4.1 貨櫃起降系統 156
8.4.2 工廠天車運輸系統 157
8.4.3 量測儀檢測系統 158
8.5 輸入修正法效能與各項性能討論 159
8.6 整體研究成果與延伸討論 162
8.7 本章結論 164
第九章 結論與未來展望
9.1 全文歸納 165
9.2 本文結論 167
9.3 本文貢獻 169
9.4 未來展望 170
參考文獻 171
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