| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 97 === The thesis proposes controller design and implementation of an anti-vibration platform. Using disturbance response decomposing (DRD) techniques, a double layer anti-vibration structure was used to decouple the vibrations of the system. A passive control structure was used to isolate the vibration from the ground, while an active control structure is applied to reduce the vibration form the table.
The full platform has seven degree of freedom. Applying symmetric transformation, the full table can be decoupled into corresponding quarter- and half- table models to simplify controller design. Hence, the controller design was conducted in the bounce, pitch, roll and warp modes. The simulations and experiments show that the designed controllers were able to restrain the system vibration using the DRD techniques.
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