新型旋轉伺服馬達驅動二軸動感平台設計與實作

有別於一般採用電動缸驅動之技術，本文開發出以旋轉AC伺服馬達直接驅動二軸動感平台之全新設計，其最大優勢為結構簡單、平台高度低、無控制死角以及成本低廉等。平台可輕易達成pitch，roll以及pitch，roll混合等各種運動控制。其基本原理為：透過二個AC伺服馬達同步且同方向轉角控制，即可達成平台之roll運動控制；相反的，若二個AC伺服馬達進行同步但反方向之轉角控制，則可達成平台之pitch運動控制，另外亦可透過機構運動分析而進一步進行pitch及roll混合之運動控制。整個設計過程主要是利用ADAMS軟體進行機構設計；另外在控制器部分則是利用圖控LabVIEW軟體進行設計。最後，整個新型二軸動感平台經實作完成並測試後發現相當成功，預期未來將極具推廣及應用之潛力。

關鍵字

AC伺服；二軸運動平台； ADAMS ； LabVIEW

並列摘要

In this paper, a brand new 2-DOF motion platform is successfully developed. Instead of the commonly used electric cylinders, the new motion platform consists mainly of two rotating AC servomotors with the corresponding drivers. Several functions are expected to be realized including the pitch, roll, combined pitch and roll, and random motion, etc. The basic working principle is described as follows. If two servomotors rotate synchronically in the same direction, the roll motion of the platform can be achieved. However, the pitch motion of the platform can be achieved if two servomotors rotate synchronically but in opposite direction. The software ADAMS is used to design the kinematic structure of the platform. In addition, the LabVIEW software system is utilized to develop the controller and monitoring program. After experimental real test, it is proved that the developed 2-DOF motion platform has fulfilled the pre-set specifications and requirements. It is expected as well that such a low-cost design can be applied to home entertainment equipment in the future.

並列關鍵字

AC Servo ； 2-DOF Motion Platform ； ADAMS ； LabVIEW

國際替代計量

新型旋轉伺服馬達驅動二軸動感平台設計與實作

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