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研究生：	李俊儀 Li, Chun-yi
論文名稱：	自我調適控制理論於結構控制之初步研究 The Preliminary Application of Self-Tuning Regulator in Structural Control
指導教授：	朱世禹 Chu, Shih-yu
學位類別：	碩士 Master
系所名稱：	工學院 - 土木工程學系 Department of Civil Engineering
論文出版年：	2009
畢業學年度：	97
語文別：	中文
論文頁數：	103
中文關鍵詞：	遞迴最小平方法、參考模型自適應性控制、回饋控制、回饋-前饋控制、自我調適控制理論、自適應性控制
外文關鍵詞：	model reference adaptive control, recursive least-square estimation, feedback-feedforward control, adaptive control, feedback control, self-tuning regulator
相關次數：	點閱：185 下載：3
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自適應性控制已成功的應用在許多工程領域，一般可分為參考模型自適應性控制與自我調適控制理論。鑑於自我調適控制理論於土木領域之研究較少，本文將針對此一控制理論於結構振動控制之應用進行初步研究。自我調適控制理論可依照參考模型之特性，使受控系統有自我調節與追蹤的功能，達到參考模型預設的理想控制效果；由於土木之結構動態參數或因材料老化或受強震作用可能逐漸改變，自我調適控制除了能使受控系統有良好的振動控制效果之外，藉由遞迴最小平方法的即時識別機制，能隨系統特性之變化即時識別出對應之最佳控制參數，因此，即使系統特性改變或原本識別之結構參數有誤，亦不致影響控制效果。本文將詳細介紹自我調適控制之理論基礎，並探討控制參數起始值對控制效果之影響，經由數值模擬結果提出適合土木結構抗震應用之參數起始值假設方式。文中進一步修改回饋-前饋控制理論為回饋控制方式，並比較回饋-前饋控制與回饋控制之控制效果，討論選擇不同地震、不同受控系統與不同理想參考模型系統對控制與識別效果之影響。尤其當結構物因受到強震破壞而出現彈塑性行為時，其系統之特性會隨之改變，文中更進一步探討當系統進入彈塑性反應時，自我調適控制之識別與控制之效果。

The adaptive control that divides into the model reference adaptive control and the self-tuning regulator (STR) has been applied on many disciplines successfully. However, its applications on civil engineering are not well developed. A preliminary investigation and its application on structural vibration control subjected to earthquake loadings are conducted in this study. The STR can enable the controlled system to have the tracking capability to reach the performance of a predesigned reference model. Even under the material aging condition or uncertainty on parameter identification, the STR will adjust its control parameters accordingly with the help of an on-line recursive least-squares estimation scheme. Therefore, the control performance is guaranteed. This study derives the theoretical background of the STR in detail and investigates the control performance by conducting a series of parameter studies numerically on the initial values of the control parameters. A recommended procedure for choosing appropriate initial values of a single-degree-of-freedom structure in response to earthquake loading is proposed and verified. Both feedback-feedforward and feedback schemes of different controlled systems are investigated and compared under different earthquake loadings. Furthermore, both control and identification performances of a STR controlled structure are studied when it reaches its elastoplastic range during a severe earthquake loading.

論文摘要...............................................................................................................................I
致謝....................................................................................................................................III
目錄....................................................................................................................................IV
表目錄................................................................................................................................VI
圖目錄............................................................................................................................... VII
符號表................................................................................................................................IX
第1 章 緒論................................................................................................................. 16
1.1 前言..................................................................................................................... 16
1.1.1 研究動機與目的............................................................................................. 16
1.2 文獻回顧............................................................................................................. 17
1.3 章節組織............................................................................................................. 19
第2 章 自我調適控制理論......................................................................................... 21
2.1 狀態空間表示法與Z 轉換簡介......................................................................... 21
2.2 離散時間轉換函數模型..................................................................................... 23
2.3 STR 控制理論之回饋-前饋(FEEDBACK AND FEED-FORWARD)控制.................. 24
2.3.1 直接自我調適(Direct STR)控制理論............................................................ 28
2.3.2 間接自我調適(Indirect STR)控制理論......................................................... 31
2.3.3 Direct STR 與Indirect STR 之比較............................................................... 32
2.4 STR 控制理論之回饋(FEEDBACK)控制............................................................. 35
2.5 遞迴最小平方法理論......................................................................................... 38
2.5.1 最小平方法(Least Square Method) ................................................................ 38
2.5.2 遞迴最小平方法(Recursive least-square estimation) .................................... 39
第3 章 線性單自由度系統數值模擬......................................................................... 45
3.1 STR 回饋-前饋控制單自由度系統數值模擬................................................... 45
3.1.1 Self-Tuning Regulator..................................................................................... 48
3.1.2 控制參數與P 矩陣起始值對識別與控制效果之影響................................. 50
3.1.3 不同受控系統，同起始值假設方式對識別與控制之影響......................... 56
3.2 STR 回饋控制單自由度系統數值模擬............................................................. 57
3.3 不同輸出與不同回饋方式模擬之比較............................................................. 61
第4 章 非線性單自由度系統數值模擬..................................................................... 77
4.1 非線性系統在STR 控制下之效果.................................................................... 78
4.1.1 STR 回饋-前饋控制....................................................................................... 78
4.1.2 STR 回饋控制................................................................................................. 79
4.2 非線性反應與理想參考模型系統之阻尼比對STR 控制參數之影響............ 80
4.2.1 非線性反應對STR 控制參數之影響............................................................ 80
4.2.2 理想參考模型系統之阻尼比對STR 控制參數之影響................................ 81
第5 章 結論與未來展望............................................................................................. 98
參考文獻........................................................................................................................... 101
                                    

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