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史都華運動平台機制於火箭推力向量噴嘴設計之研究
Using Stewart Platform Mechanism to Design the Thrust Vector Control System for Space Rocket
摘要
由於史都華平台機構具備高精度與高剛性之特性，且可進行六自由度的運動，因此在機工具業、運輸業及航太業上已獲得廣泛運用。本文即依此機構所具備的特性，將其運用於火箭推力向量噴嘴控制機構之設計，以解決向量噴嘴在高震動及高負載工作環境仍須維持其高控制精度之問題。此外在以太空火箭?運用實例下，我們亦推導出具單一推力向量控制系統之載具飛行軌跡與噴嘴角度之關係式。最後經模擬結果除可證明所推導公式之正確性外，亦可確認該機構在隨機動態負載下仍能維持其控制精度。據此可說明結合史都華平台機構於推力向量噴嘴的機構設計上可有效維持其控制效能，亦證明其於推力向量噴嘴的機構設計上之可行性與實用性。
並列摘要
The Stewart Platform manipulator has the characteristic of great rigidity, high-force-weight ratio, and with the mobility of six degree of freedom. It has been widely introduced in the industries; include aerospace, defense, transportation, communication, and machine tool technology. In this paper, we propose a new design for thrust vector control (TVC) system base on the advantage of Stewart Platform for space rocket, to hold the control performance at high vibration and force weight ratio conditions. We also derive the dynamics relation between the vehicle trajectory and TVC nozzle angle from a single TVC system for space rocket. From the results of simulation, we can find that the dynamics relation is correctly, and confirm the high control performance when system works at high random loading conditions. It is illustrated the practicability and feasibility in applications of the Stewart platform mechanism for TVC.