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系統識別號 U0026-2307201614312100
論文名稱(中文) 雙微慣性感測主動式轉向LED 照明系統於水下載具之設計、研製與測試
論文名稱(英文) Design and Testing of Adaptive LED Front Lighting System Using Dual Inertia Sensor for Autonomous Underwater Vehicle
校院名稱 成功大學
系所名稱(中) 系統及船舶機電工程學系
系所名稱(英) Department of Systems and Naval Mechatronic Engineering
學年度 104
學期 2
出版年 105
研究生(中文) 吳俊霖
研究生(英文) Chun-Lin Wu
電子信箱 p16031208@mail.ncku.edu.tw
學號 p16031208
學位類別 碩士
語文別 中文
論文頁數 84頁
口試委員 指導教授-沈聖智
口試委員-黃信榮
口試委員-張祥傑
口試委員-王郁仁
中文關鍵字 水下載具  主動式轉向燈具  慣性感測器  壓電致動器 
英文關鍵字 AUV/ROV  Adaptive steering lamps  Inertial sensor  Piezoelectric actuator 
學科別分類
中文摘要 本研究係利用雙慣性感測器,設計一種不受地型因素限制並適用於水下環境的轉動角度估測模組,再整合壓電轉向致動器設計水下載具專用之主動式轉向LED照明系統(Adaptive Front LED Lighting System, AFS)。雙慣性轉向照明系統係由轉向角度估測模組與轉向驅動模組組成,其中轉向角度估測模組係整合雙三軸慣性感測器與轉向估測演算法計算獲得載具轉向角度再結合燈具照明光型特性,依據LED燈具的照明距離及光源出光角估測載具最大轉動角度。轉向驅動模組,是由對稱型壓電元件(Symmetric Piezoelectric Element,SPE)與衍架型(Trussed Structure)正向預壓力機構兩大部分組合而成。最後以微控制器整合轉向角度估測模組及轉向驅動模組,完成水下載具主動式轉向LED照明系統之設計,並由實驗結果得知在靜態測試方面,轉向驅動模組由驅動頻率為209kHz驅動下,轉速最高可達257.14rpm,最大負重最重可承載420g,步進角度最小轉動角約為0.148˚;在動態測試方面,本研究將主動式轉向LED照明系統於水下測試並完成AFS之作動效果。未來可將攝影機納入本系統中即可形成水下載具的主動式視覺系統,以提升AUV或ROV在水下的探勘技術能力,實現將主動式的動態回饋感測概念導入水下應用領域。
英文摘要 This proposal presents an adaptive vehicle rotate angle system using dual micro-inertial sensor, which can apply to underwater environment. The system consists of vehicle rotate angle estimation module and PZT driving module to form adaptive front LED lighting system. Driving module is composed of two core components: symmetrical piezoelectric element and trussed preload structure. The design of the symmetrical piezoelectric element is utilizing the finite element analysis to simulate its motion characteristics, in order to get the fixed point and the driving point. The piezoelectric actuator of the preload structure design improves the general linear preload track type into torque track type, to further simplify the linear preload track into rotation track and introduce the truss structure component concept to ameliorate preload skew problem, and design a triangular truss-type preload mechanism, and then to integrate with SPE as a driving module. Finally realizing the active dynamic feedback sensing concept and enhance AUV or ROV in underwater exploration technology capability.
論文目次 中文摘要 I
Extended Abstract II
致謝 XVI
目錄 XVII
圖目錄 XIX
表目錄 XXIII
第一章 緒論 1
1-1 前言與動機 1
1-2 研究方法 3
1-3 論文架構 4
第二章 文獻回顧 6
2-1 轉向估測系統簡介 6
2-2 慣性感測模組 13
2-3 壓電致動器 14
2-4 單軸度壓電致動器 16
2-4-1 單相驅動壓電致動器 17
2-4-2 雙相驅動壓電致動器 19
第三章 轉向角度估測模組設計理論 22
3-1 載具轉向運動軌跡分析 23
3-2 轉向側傾角修正 24
3-3 轉向半徑計算 26
3-4 轉向角度估測 28
3-5 慣性感測模組建構及校正 30
3-5-1 慣性感測模組建構 30
3-5-2 慣性感測模組校正 32
第四章 轉向驅動模組之設計與分析 37
4-1 SPE元件設計與分析 38
4-1-1 SPE元件運動軌跡分析 38
4-1-2 SPE元件模擬驗證 41
4-1-3 SPE元件驅動原理分析 43
4-2 預壓力機構設計 44
4-3 轉向驅動模組建構 48
4-3-1 轉向驅動模組 48
4-3-2 驅動電路設計 48
第五章 實驗量測與結果討論 50
5-1 轉向驅動模組 50
5-1-1 SPE特性量測 51
5-1-2 壓電致動器特性量測 53
5-2 轉向角度估測模組 60
5-2-1 轉動量測實驗架構 60
5-2-2 轉向側傾角修正量測 61
5-2-3 轉向半徑量測 63
5-3 主動式轉向照明系統實現 67
5-3-1 主動式轉向照明系統設計 68
5-3-3 應用評估 71
第六章 結論與未來展望 76
6-1結論 76
6-2未來展望 78
參考文獻 79
附錄 82
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