長距離移動系統常用於傳輸運送或精密定位等用途，在運動過程中，系統主體會因加減速的慣性力而產生明顯的振動，殘餘振動的存在將降低定位精度並增加達成工作目標所需之時間，使得工作效率大幅下降，甚至會對工作人員的安全造成威脅。一般常見的減振策略除了在結構上增加阻尼外，也可利用回授控制來達到抑制系統振動的目的，但以上兩種策略將改變系統主體的結構或是需要加裝額外的感測器與制動器，將造成系統成本與複雜性的提高。而輸入修正法提供了一個有效且低成本的減振策略，藉由改變傳輸機構的輸入模式，即能有效降低系統於移動過程中的晃動以及定位後的殘餘振動。然而，在相關研究中，普遍皆以一維運動之剛體單擺作為長距離移動系統之等效模型，此簡化模型可能無法完整地表現出系統應有的運動特性，而利用解析法處理複雜度較高的系統時，將會碰到極大的計算困難。本文提出以有限元素法作天車系統之動態分析模擬，並分別建立剛體單擺與撓性單擺作為天車系統之等效模型，利用雙軸線性馬達作為傳輸機構於二維平面上運動，針對系統之振動模態設計輸入修正法，經由模擬與實驗驗證其振動抑制效果，並做參數不確定之強健性研究。研究結果顯示，輸入修正法可使系統快速且平穩地到達目標位置，加減速瞬間的晃動量最佳可降低至未控制的四分之一以下，並可降低約90%的殘餘振動量。經由模擬與實驗結果的比較，有限元素法於天車系統之動態分析模擬是相當方便且有效率的，並具有非常高的準確度。本研究將有助於長距離移動系統振動抑制之相關應用。

Cranes play an important role in many factories for transferring a payload from one place to another. These systems usually require a fast maneuver with small motion-induced vibration amplitudes. However, the motion induced swings during crane movements make it difficult to transfer the payload rapidly with high positioning accuracy. Furthermore, for hazardous or fragile payloads, such a generated swing could possibly cause significant safety concerns. In order to increase the work efficiency, residual vibration resulting from structure motion must be analyzed and suppressed. Input shaping provides a cheap and effective method of suppressing the payload swings and residual vibrations during a rapid maneuver. However, the traditional designs of the shaper have all been based on rigid pendulum model in one-dimensional motion, which may not be realistic for many applications. Besides, it is very difficult to obtain the equations of motion by analytical approach for complicated systems. In this dissertation, the author integrates finite element dynamic analysis with the shaper design to suppress swing and vibrations for crane-based transportation. A rigid pendulum and a flexible pendulum are designed as the equivalent models for cranes, respectively. These pendulums are mounted on a two-axis liner servomotor for serving as a platform to simulate the motion of a payload under a crane. ZV, ZVD, ZV-ZV, and ZVD-ZVD shapers are applied to evaluate the capability of suppressing motion induced payload swings and residual vibrations. The results demonstrate that the input shaping methods allow the test systems to maneuver smoothly and rapidly to the final destination with only a small swing angle and almost no residual vibrations. The robustness of these shapers is investigated through both simulations and experiments and the results shows that the ZVD and the ZVD-ZVD shapers are more robust to resist dynamic parameter variations than the other methods. Meanwhile, essential finite element simulations are also conducted and verified using the experimental data. The simulation results indicate that the finite element simulation can potentially be a powerful tool for analyzing the dynamic behavior and for designing input shapers of more realistic and complicated mechanical systems.

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