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研究生:鄭宇舜
研究生(外文):Yu-ShunJheng
論文名稱:微慣性感測元件於載具轉動角度之估測系統設計及其應用
論文名稱(外文):Design of Adaptive Vehicle Rotate Angle System using Dual MEMS Inertia Sensor and its Application
指導教授:沈聖智沈聖智引用關係
指導教授(外文):Sheng-Chih Shen
學位類別:碩士
校院名稱:國立成功大學
系所名稱:系統及船舶機電工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:中文
論文頁數:110
中文關鍵詞:主動式轉向頭燈轉向估側壓電元件預壓力機構
外文關鍵詞:adaptive front lighting systemvehicles rotate angle estimationpiezoelectric elementpreload structure
相關次數:
  • 被引用被引用:2
  • 點閱點閱:219
  • 評分評分:
  • 下載下載:28
  • 收藏至我的研究室書目清單書目收藏:0
本論文設計一種不受陸地因素限制並可適用於水下環境的角度估測模組,並整合轉向驅動模組建構成主動式載具轉動角度估測系統。其中,角度估測模組係由兩加速度計整合轉向模型估測演算法計算載具轉向角度。轉向模型估測演算法設計方面可分成三大部分,包括轉彎側傾角修正法、轉彎半徑計算法以及轉動角度評估三大部分。轉彎側傾角修正法,利用三軸加速度感測特性,針對載具轉向所伴隨的側傾角進行補償,以修正重力於側傾角分量的加速度量測值;轉彎半徑計算法,藉由兩加速度計向心加速度量測差值與已知間距,推算載具轉彎半徑;轉動角度評估,結合燈具照明特性,依據其照明距離、出光角與轉彎半徑計算法估測轉向驅動模組最大轉動角度。轉向驅動模組是由兩核心元件組成:對稱型壓電元件(Symmetric Piezoelectric Element)與衍架型(Trussed Structure)預壓力機構組成,其中衍架型預壓力機構設計,則改良一般直線預壓力軌道設計,採以旋轉軌道之力矩方式施以定子與轉子間預壓力,並導入衍架結構分力概念,設計出一三角衍架型正向預壓力機構,轉向驅動模組設計最後,以LabVIEW人機介面整合角度估測模組與轉向驅動模組,設計主動式載具轉動角度估測系統,並可結合照明設計與攝影鏡頭,將主動式轉向頭燈(Adaptive Front Lighting System)概念成功導入水下應用領域。
This thesis presents an adaptive vehicle rotate angle system using dual MEMS inertia sensor, which can apply to underwater environment. The system consist of vehicles rotate angle estimation module and driving module. The angle estimation module calculate the vehicle steering angle model by the two accelerometers. The design of vehicle steering angle model can be divided into three parts, including the roll angle correction method, turning radius calculation method and driving module rotate angle. Turning roll angle correction method calibrate the influence of gravity in centripetal acceleration by the accelerometer multi-axis sensing characteristics. Turning radius calculation method calculate the turning radius by the difference value between two accelerometers distance. The rotate angle and maximum rotate angle of driving module is calculated by illuminating distance, light angle and Turning radius. Driving module is composed of two core components: symmetrical piezoelectric element and trussed preload structure which can improve the general linear preload track design into torque track design. The truss structure utilized a triangular structure to provide a normal force as preload. The software LabVIEW is used to control the adaptive vehicle rotate angle system, and link up driving module and vehicle rotate angle estimation module. The design of active vehicle rotation angle estimation system could be combined with the lighting design and camera, the concept and has been estimated in various applications, such as adaptive front lighting system and unmanned aerial vehicle or autonomous underwater vehicle camera.
摘要 I
Abstract II
誌謝 III
目錄 IV
圖目錄 VII
表目錄 XI
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 文獻探討 5
2.1 轉向估測系統簡介 5
2.2 慣性感測模組 9
2.3 壓電致動器 11
2.4 單軸度壓電致動器 13
2.4.1 單相驅動壓電致動器 14
2.4.2 雙相驅動壓電致動器 16
第三章 載具轉動角度估測方法與設計 21
3.1 載具轉向運動軌跡分析 22
3.1.1 轉向運動模型之建構 22
3.1.2 轉向模型之分析 23
3.2 轉向側傾角修正 25
3.3 轉向驅動模組轉動角度設計 28
3.4 加速度感測校正方法 31
3.4.1 MEMS慣性感測元件簡介 31
3.4.2 元件誤差之探討 33
3.4.3 加速度感測模組建構 36
3.4.4 加速度感測模組校正 38
第四章 轉向驅動模組設計 48
4.1 對稱型壓電元件分析與設計 49
4.1.1 SPE元件運動軌跡分析 49
4.1.2 SPE元件模擬分析 53
4.1.3 SPE驅動原理 55
4.1.4 SPE固定點與驅動點設計 56
4.2 SPE之特性量測 58
4.2.1 SPE之量測設備 58
4.2.2 共振頻率量測 59
4.2.3 表面振幅量測 60
4.3預壓力機構設計 61
第五章 實驗量測與結果討論 68
5.1轉向驅動模組特性量測: 68
5.1.1量測設備建構 69
5.1.2驅動特性量測分析 71
5.1.3負載特性量測分析 77
5.2 角度估測模組量測 78
5.2.1向心加速度量測實驗架構 79
5.2.2轉彎側傾角修正量測 80
5.2.3加速度量測單元向心加速度量測 85
5.2.4轉彎半徑量測 87
5.3主動式轉向估測系統實現 90
5.3.1主動式轉向估測系統控制設計 91
5.3.2轉動角度量測 93
5.3.3應用評估 96
第六章 結論與未來工作 99
6.1結論 99
6.2未來工作 101
參考文獻 102
附錄A 壓電彈性體之二維駐波 106
附錄B PZT-4材料係數 109
作者自述 110


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