開發智慧型結構系統於土木基礎建設: 感測與控制

Abstract

近年來，拜結構感測以及結構控制技術所賜，天然災害所導致的土木基礎結構危害得以減緩。本研究的目的在於引進嵌入式系統以及無線傳輸技術並且應用於改善傳統結構感測及控制系統的缺點，藉由這樣的研究讓智慧型結構系統的概念得以實踐於真實結構物中。同時，本研究完成了兩套智慧系統的設計，分別為智慧型感測系統以及智慧型結構控制器。 最近研究人員對於嵌入式系統以及無線傳輸技術有著極大的興趣。嵌入式系統的精神在於”軟硬體共同設計”的理念，這樣的理念是依照需求的功能依序完成專用的硬體及軟體設計。無線傳輸技術則是提供一個低成本、有彈性且可重新規劃的傳輸架構，並且藉由此架構取代傳統拉線式的資料傳輸方式。 智慧型感測系統的研發包含了分析方法與設備研發。在設備研發方面開發新的無線感測器以及以即時控制器為基礎的伺服器端，並且運用這些設備完成訊號量測的程序；在分析方法方面，蒐集了數種成熟的分析方法，其中包含了自回歸分析法、頻率域分解法、隨機子空間識別法以及兩階段損害識別法。系統中建置了包含無線感測器網路以及3G移動式網路的兩層式無線網路架構。設計完成的智慧型感測系統藉由應用於集鹿橋及牛鬥橋的野外結構微振動反應量測實驗，該系統的可靠度及性能透過實驗的結果獲得驗證；同時藉由本研究所提供的結構物健康診斷方法，結構物的特性也能夠被精確的解析。 智慧型結構控制器的研發中包含了一套新的分散式控制理論 (分散式滑模控制)推導，以及針對該方法所設計的專屬控制硬體。透過振動台的實驗，智慧型結構控制器能有效的折減結構物於地震下的反應，該系統也藉由這個實驗獲得驗證。

In recent years, the techniques of structural sensing and control are used to mitigate the effects of natural hazards on civil infrastructure. The objective of this study is to improve traditional structural sensing and control systems of civil engineering by applying the technologies of embedded system and wireless sensing, and implements the concept of smart structural system on building. Two systems are provided in this study, Smart Sensing System and Smart Control Device. Recently, the techniques of embedded system and wireless communication have attracted much research interest. The main idea of embedded system is Hardware-Software Co-Design which is a simultaneous design of both hardware and software to implement in a desired function. Wireless communication technology provides a low-cost, flexible and reconfigurable architecture to replace the traditional wired communication. The development of Smart Sensing System includes a newly developed wireless sensing unit (NTU-WSU) and a Host Node with real-time controller (cRIO) to perform the sensing procedures, and several structural health monitoring techniques (AR, FDD, SSI and two-stage AR-ARX damage detection) are surveyed to extract structural characteristics. Two-layer wireless communication architecture which includes wireless sensor network and 3G Mobile Internet is built in Smart Sensing System. This system is adopted in the measurement of Gi-Lu Bridge and Niudou Bridge and the result shows the high robustness of wireless sensing system and the structural characteristics are accurately extracted through the provided SHM methods. The development of Smart Control Device includes a newly developed decentralized control algorithm (decentralize sliding mode control) and a new embedded system which is designed for this specified control algorithm. This system is verified with a shaking table test and the control performance indices show Smart Control Device reduces the structural responses effectively.