臺灣博碩士論文加值系統

本文的主旨在於控制一液壓力回饋搖桿，並將其應用於飛行模擬器的飛行控制上。力回饋搖桿需要在真實飛行情況下，操縱桿負載力道的感覺能反應在操縱桿，可使飛行員知道當時的飛行狀況，並且適當的修正飛機的姿態或相關的飛機翼面。
由於液壓搖桿在油源開啟的狀態下，人手無法推動，所以用搖桿給予使用者力回饋感覺的同時，必須同時對搖桿作位置控制，將其推至相關的位置。本文利用自組織模糊控制器對搖桿作位置控制，並利用阻抗控制的觀念，來完成同時對搖桿位置及力量控制的目的。

This thesis is dedicated to control a hydraulic force-feedback joystick, which is implemented in a flight simulator. A force-feedback joystick needs to produce the actual contact force exerted on pilot’s hands in a real flight situation accurately. The contact force applied on the control stick reminds the actual flight conditions to the pilot and to generate appropriate signals to modify the aircraft attitude and relative status.
A hydraulic joystick is impossible for human hands to move when the hydraulic source is connected. In here, the concept of position and force control should be included simultaneously, and the joystick is moved to the desired position associated with the feeling of force-feedback. A self-organized fuzzy controller is adopted here for the position control of a joystick, and the concept of impedance control is employed to accomplish both position and force control.

中文摘要…………………………………………………………………I
英文摘要………………………………………………………………...II
致謝……………………………………………………………………..III
目錄……………………………………………………………………..IV
圖表索引………………………………………………………………..VI
第一章 緒論……………………………………………………………..1
1.1前言…………………………………………………………1
1.2文獻回顧……………………………………………………2
1.2.1 接觸力之控制………………………………………..2
1.2.2 位置控制……………………………………………..3
1.2.3 相關研究……………………………………………..3
1.3 研究動機…………………………………………………...4
1,4 論文架構…………………………………………………...5
第二章 系統架構………………………………………………………..6
2.1 力量的感覺機制…………………………………………...6
2.2 控制系統…………………………………………………...7
2.3 硬體架構…………………………………………………...8
第三章 控制理論………………………………………………………11
3.1 前言………………………………………………………..11
3.2 基本模糊控制……………………..…………………...…11
3.2.1 定義變數……………………………………………12
3.2.2 模糊化………………………………………………13
3.2.3 模糊推論……………………………………………15
3.2.4 模糊控制規則………………………………………16
3.2.5 解模糊化……………………………………………19
3.3 自組織模糊控制………………………………………….21
3.4 阻抗控制………………………………………………….27
第四章 實驗結果與分析………………………………………………30
4.1 位置控制………………………………………………….30
4.1.1 步階響應……………………………………………30
4.1.2 正弦波響應…………………………………………31
4.2 力回饋搖桿實作模擬…………………………………….34
第五章 結果與建議……………………………………………………45
參考文獻………………………………………………………………..47
作者簡歷

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