互動式自行車模擬器應用於虛擬實境之研究

Study of Interactive Bicycle Simulator in Application of Virtual Reality

陳峰傑(Fong-Jie Chen)

指導教授 ： 黃榮堂 ； 陳正光

國立臺北科技大學/機電學院/機電整合研究所/碩士(2007年)

摘要

具有3個自由度的動態平台使用並聯式繩索驅動（CDPM）與蝸桿蝸輪減速機為設計概念，而動態平台的控制法則在研究中將使用LQG/LTR與PID控制，以及使用ARMAX Model作系統識別。在控制系統實現方面，將使用Microchip PIC與FTDI USB Control Chip設計嵌入式系統，以及使用LabJack設計電腦控制系統，並且同時使用嵌入式控制與電腦控制對動態平台與阻力系統作伺服控制，其中自行車後輪阻力系統將使用磁粉式電磁離合器實現模擬負載。在虛擬實境方面，透過Virtools SDK實現自行車動力學中的Bicycle Motion Equation, Self-Stabilization and Yaw Angle Motion Equation以及手把扭矩估測器、自行車後輪扭矩估測器以及地形條件估測器。透過Virtools SDK、嵌入式控制系與電腦控制系統的整合，本研究已建立一個具有互動能力的自行車模擬器。

關鍵字

動態平台 ； 自行車動力學 ； Virtools SDK ； LQG/LTR ； ARMAX

並列摘要

The concept of this study is a use of cable driven parallel mechanism with worm and worm-gear reducer on the three degrees-of-freedom dynamic platform. Furthermore, LQG/LTR control (LQR, State Estimate using Kalman Filter and Loop Transfer Recovery) and PID control are used as the control law for dynamic platform. In addition, ARMAX of Model Structure is used for system identification. In this study, Microchip PIC18F452 and FT232BL USB Control Chip of FTDI are applied to bulid the embedded system. This embedded system and computer-controlled systems with LabJack U12 DAQ serve as the control interface of servo control for dynamic platform. Electromagnetic powder clutch is adopted as the loading in rear wheel resistance system. Through the use of Virtools SDK, we also obtain the bicycle motion equation, self-stabilization and yaw angle motion equation, handlebar-torque-estimator, rear wheel of bicycle torque estimator, and road condition estimator of bicycle dynamics. This study has developed a successful interactive capability bicycles simulator through efficient integration of Virtools SDK, embedded system and computer-controlled system.

並列關鍵字

Dynamic Platform ； Bicycle Dynamics ； Virtools SDK ； LQG/LTR ； ARMAX

參考文獻

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