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。

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.

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