測量仿生型水下載具運動之動態水壓力感測器設計

為了能讓利用尾巴擺動前進的仿生型水下載具擁有可量測周圍壓力變化的能力，本研究利用PVDF當作壓力感測器，用來量測仿生型水下載具的仿生尾鳍所打出來的壓力訊號，並將此尾鰭視為一振動球，透過量測的壓力及幾何關係與振動球的方程式來推估仿生型水下載具的位置。本文首先介紹壓電材料的特性，得知PVDF有兩種不同的操作模式，分別為懸臂模式與貼平模式，而且，在不同模式下會影響PVDF的輸出電壓，又透過電路設計了解輸入不同電容也會影響PVDF的輸出電壓，最後透過電路的模擬與造波機實驗的校正，得到在懸臂模式下及使用電容為10 pF會使的PVDF有較高的靈敏度，即 0.368*10-3 V/Pa。接著利用固定振動源的情況下，取得PVDF的方向性，即量測範圍約±70°。再利用仿生型水下載具來驗證此方向性是否正確，最後利用得到的PVDF的靈敏度與方向性搭配近似仿生型水下載具尾鰭的振動方程式來推估仿生型水下載具之位置，找到最佳的路徑。

關鍵字

仿生；水下載具； PVDF ；靈敏度；方向性；振動球方程式

並列摘要

In order to measure the ambient pressure variation by the flexible tail beating from a Biomimetic Autonomous Underwater Vehicle (BAUV), this study develops a pressure sensor made of PVDF to measure the pressure. The tail of the BAUV can be considered as a vibration sphere and the vibration sphere equation combined with the pressure and geometric allows estimating of the position of the BAUV. First of all, this article was constructed around characteristics of piezoelectric, and two kinds of operation modes were found. They are cantilever-mode and flat-posted-mode, respectively, and each operation mode can affect the PVDF output voltage. In addition, the circuit design and the different capacitance can affect the PVDF output voltage too. The PVDF sensitivity was better in using cantilever-mode and a capacitance of 10 Pf. It is shown by using circuit simulation and experiment calibration from wave maker. The PVDF sensitivity was 0.368*10-3 V/Pa. Then, the vibration source was fixed to find the PVDF directionality which measurement range was about ±70°. Then, the BAUV was used to proof that the PVDF directionality was correct. Finally, the PVDF sensitivity, the PVDF directionality and the vibration sphere equation were used to estimate the optimization path of the BAUV.

並列關鍵字

Biomimetic ； underwater vehicle ； PVDF ； sensitivity ； directionality ； vibration sphere equation

參考文獻

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國際替代計量

測量仿生型水下載具運動之動態水壓力感測器設計

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