動態次結構系統測試法的主要概念是將一個完整的工程受測系統拆解成為數個次結構系統，數值次結構系統由線性元件所組成，在電腦中建模並透過即時運算來做模擬；物理次結構則由物理試體以及傳動系統所組成，其中傳動系統位於數值次結構和物理次結構之間的界面，包含著致動器、內迴路控制器以及感測器。在動態測試的過程當中，致動器所產生的動態特性和干擾訊號會導致數值次結構的輸出和物理次結構的輸出不同步，也就是會有同步誤差的產生，使的動態次結構的測試失真。因此本論文提出兩個進階控制器：一個是使用狀態空間線性前饋控制器搭配H∞反饋控制器，來保證系統的強健控制表現；另一個則是使用狀態空間線性前饋控制器搭配混合H2/H∞反饋控制器，來保證系統的最佳化控制表現以及強健控制表現。根據數值次結構框架將動態次結構的控制器設計問題，轉換成為凸優化問題，並使用MATLAB LMI toolbox所提供的演算法來合成控制器的參數。

　　本論文使用多變數質量彈簧阻尼系統來驗證控制器的設計，在常態與改變傳動系統參數的條件下比較不同控制器之間控制表現，並分析其的優缺點與強健性。最後從模擬與實驗中皆得到相同的結果，狀態空間線性控制器可以很有效的補償內迴路控制器，但無法知道極點的位置該如何設計；狀態空間線性前饋控制器搭配H∞反饋控制器可以完整的對次結構系統動態分析，來做控制器的強健性設計，但在控制器設計的過程中仍然存在著一些限制；狀態空間線性前饋控制器搭配混合H2/H∞反饋控制器提供了理論上的依據，可以設計出使用最小控制能量來達到最佳化控制表現與強健性控制表現，但實際上在設計過程中會容易受到系統特徵值矩陣的影響，使得控制表現不理想。

　　Dynamically substructured system testing method divides an original system into several substructures. In the numerical substructure, linear components are simulated via real-time computation. In the physical substructure, a transfer system, which includes actuators and sensors, is installed to interface the numerical and physical parts. During the test, the unwanted dynamic and disturbance noise from the actuator inevitably cause synchronization errors between the outputs of numerical and physical substructures at the interface, and consequently result in unsuccessful tests. Therefore, this study proposes advanced control using the feedforward state-space linear substructuring controller plus the H∞ feedback controller to ensure robust control performance and use the feedforward state-space linear substructuring controller plus the mixed H2/H∞ feedback controller to ensure optimal and robust synchronization. The problem of controller design is transformed to convex optimization problem according to a numerical-substructure-based framework and is solved based on the algorithm provided by MATLAB LMI toolbox to synthesis the controller.

　　A multivariable mass-spring-damper substructured system is developed to verify the proposed control strategy via numerical studies and experiment studies. After comparing the advantages, disadvantages, and robustness of different control system design, this thesis shows that the pole-placement feedback controller has good robust performance but do not know how to choose the pole location; the H∞ feedback controller provide a theoretical way to design the robust controller but there exist some limits in the design process; the mixed H2/H∞ feedback controller provide a theoretical way to design the robust controller using the minimum control energy but it is easy to be affected by the eigenmode matrix of control system.

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