以模糊邏輯控制器為架構之望遠鏡雲台及指星筆導引系統

The Telescope Mount with Fuzzy Logic Controller and Laser Pointer Guidance System

江明智(Ming-Chih Chiang)

指導教授 ： 許永和

國立虎尾科技大學/電機資訊學院/資訊工程系碩士班/碩士(2016年)

摘要

本研究包含兩個部分的系統設計，第一部分為應用模糊邏輯控制器(Fuzzy Logic Controller，FLC)來控制雲台內的雙軸馬達，並對模糊邏輯控制器輸入兩變數分別為誤差(e)以及誤差變化量(ec)。此外，依據模糊規則中誤差與誤差變化量修正控制核心之間的規則庫，以符合本研究之高響應速度、穩定度及精準度之目的，並且在自動化流程中透過感測器及GPS進行雙軸水平、對北及推算出北極星位置。
第二部分為指星筆導引系統，指星筆導引系統以雷射筆的概念為原點，開發出簡化控制並結合姿態航向參考系統(Attitude Heading Reference System，AHRS)之指星筆。其中，融合六軸感測器(三軸加速度與三軸陀螺儀)及一顆三軸電子羅盤取得九軸數據，並且透過四元數的Mahony非線性互補濾波器來對應出地平坐標系，將指向位置傳至望遠鏡雲台做控制。
而本研究改善望遠鏡雲台傳統複雜的操作流程，取而代之的是自動化流程，並且提出指星筆導引系統，以此簡化手控器的控制方式。最後，藉此研究成果來突破傳統望遠鏡的控制方式，並提供更人性化的天文望遠鏡控制方式。

關鍵字

望遠鏡雲台 ； 模糊邏輯控制器 ； 九軸感測器 ； 四元數 ； 姿態航向參考系統 ； Mahony filter

並列摘要

This system implements two parts. The first part is apply fuzzy logic controller to control the motor on the telescope mount, and these input error(e) and error rate(ec) parameters are adopted in fuzzy logic controller. Then according to fuzzy rule amend control system fuzzy rule, so that the response rate, stability and precision can be accelerated, and sensor and GPS module are utilized to can generate two horizontal axes for the calibration and the coordinate position of the Polaris.
The second part is laser pointer guidance system. The laser pointer guidance system of concept is inspired by laser pen. A combine attitude-heading reference system laser pointer is developed in this thesis. Among them, these 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer are combined in this system. According to the Mahony filter of quaternions method, the 9-axis sensor data are adopted to transform into the corresponding horizontal coordinate system. Then send control command controller telescope mount.
Additionally, the traditional complex control step in the telescope mount is improved to be automation in this study. And design of the laser pointer guidance system is simplify the control method of hand controller in the telescope mount. Finally, by using this study result to surmount tradition telescope control method, provide user with more vivacious telescope control method.

並列關鍵字

Telescope mount ； Fuzzy Logic Controller ； 9-axis sensor ； Quaternions ； Attitude-Heading Reference System ； Mahony filter

參考文獻

[1] Chemishkian, S.Y. and Meroyan, E.H., 1994, "Robust control design for a spaceborne telescope guidance system.", Control Applications, 1994., Proceedings of the Third IEEE Conference on, vol.3, pp.1591-1594, 24-26 Aug.

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