網路連線之互動式腳踏車模擬器系統建置

The Establishment of the Interactive Bicycle Simulator with the Internet Connection

黃啟榮(Chi-Jung Huang)

指導教授 ： 黃榮堂

國立臺北科技大學/機電學院/機電整合研究所/碩士(2009年)

摘要

本研究是要設計一具有三個自由度的動態運動平台，此動態平台以繩索作為驅動方式，藉由繩索拉動的變化可使平台產生俯仰角(Pitch angle)、翻滾角(Roll angle)與偏航角(Yaw angle)三個軸向的運動，並於平台上方裝設一台腳踏車，利用平台的不同角度的變化來模擬路面的傾斜情況。以Virtools軟體建立虛擬實境(Virtual Reality)場景，並將3D物件、聲音、圖像置入虛擬實境軟體中，編輯物件的行為及動作；同時藉由C++程式語言撰寫路面負載運算、資料傳輸與網路連線通訊的行為模組；路面阻力負載的控制使用電磁磁粉式離合器作為負載的來源；資料傳輸使用串列傳輸RS-232作為資料傳輸的通訊介面；網路連線利用TCP/IP通訊協定，以UDP(User Datagram Protocol)傳輸方式來建立Socket的網路連線資料傳輸系統。
整體系統的架構將使用數位訊號控制器(dsPIC30F4011)作為核心的控制介面，使用數位輸出入、寬波調變(PWM)及類比數位訊號轉換器(ADC)作為動態平台的位置控制；通用非同步接收傳輸模組(UART)作為動態平台與虛擬場景之間的資料通訊。

關鍵字

動態運動平台 ； 數位訊號控制器 ； 虛擬實境 ； 順向運動學 ； 逆向運動學

並列摘要

This dissertation presents a design of 3-DOF dynamic exercise platform which is driven by ropes. By pulling the ropes, the dynamic platform will obtain the motions of pitch, roll and yaw. Then, a bicycle is installed on the platform, and is to be simulating the slanting road with the variation of different inclined angles. This study uses the software “Virtools Dev” to set up the virtual reality scenes, and puts 3D object, sound, and images into Virtools to edit the behaviors and motions of objects. At the same time, apply C++ programming language to write the program for calculating the road load, the transfer of information and the proceedings’ module of online communication. As for the control of the resistance of the road surface, the electromagnetic powder clutch and brake is used as the source of load. In addtion, the universal transmitter RS-232 is used for the communication interface of information transmitting. Furthermore, TCP/IP communication pact is used to connect the internet. Moreover, the UDP (User Datagram Protocol) is used to establish the online information transfer system of Socket.
Digital signal controller (dsPIC30F4011) is the central control interface of the whole system. The digital output and input, pulse width modulation (PWM) and Analog to Digital Converter (ADC) are used to control the position of the dynamic platform. In addition, the universal asynchronous receiver and transmitter are used for the information communication between the dynamic platform and virtual reality.

並列關鍵字

Dynamic Exercise Platform ； Digital Signal Controller ； Virtual Reality ； Forward Kinematics ； Inverse Kinematics

參考文獻

[1] 陳峰傑，互動式自行車模擬器應用於虛擬實境之研究，碩士論文，國立台北科技大學機電整合研究所，台北，2007。

[3] J.L Meriam, L.G Kraige, Engineering Mechanics-Statics, John Wiley & Sons, Inc., 5 rd, 2001.

[4] Robert L. Norton, Design of Machinery, Mc Graw Hill, 3rd, 2004.

[6] Spotts, Shoup, Hornberger, Design of Machine Elements, Prentice Hall, 8rd, 2003.

[16] Benjamin C. Kuo, Farid Golnaraghi, Automatic Control Systems, John Wiley & Sons, Inc., 8 rd, 2003.