本研究在抑振控制中提出了利用自感測速度觀測器架構，結合壓電自身既可作為感測器也可以作為致動器的特性，使壓電元件可以在作為致動器對機械結構體進行抑振的同時，也可以估測出結構體之振動速度，省去安裝物理感測器作為回授訊號的問題。為了達到自感測壓電致動器的目的，本研究對壓電懸臂樑建立數學模型並且進行模擬來分析壓點懸臂樑之性能，結合其模型來完成壓電自感測架構，並且將估測速度與實驗量測的結果做比較，以驗證壓電自感測致動器可行性。此外，本研究也使用阻抗控制的概念，提供一套系統的阻抗控制設計方法，對壓電系統進行控制參數設計，使其可以改變壓電系統阻抗值，從而達到抑振之目的。

In order to allow a single piece of piezoelectric material to simultaneously be an actuator and a sensor in the closed loop system, this research proposes a different method of practically implementing the self-sensing piezoelectric actuators. Since the motivation is that the self-sensing piezoelectric actuators will be collocated and applied to active and intelligent structures, such as vibration suppression, an open loop speed observer is used to estimate vibration velocity that reduces the usage of velocity sensor. A theoretical basis for self-sensing piezoelectric actuators is given in terms of using a block diagram approach to build the model of piezoelectric cantilever beams. On the other side, by using the design methodology of mechanical impedance control, adjusting the control parameters systematically, improving the piezoelectric cantilever beam system impedance value, the structural vibration resulted from unknown disturbance causes is suppressed. The usefulness of the proposed control framework will be verified by a series of experiments.

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