雙體著陸系統之機構設計與姿態控制

Landing Mechanism Design and Posture Control of Double-body System

楊正成(Cheng-Cheng Yang)

指導教授 ： 宋震國

國立清華大學/工學院/動力機械工程學系/碩士(2006年)

摘要

本研究之目的在於探討從空中自由掉落之雙體機構動力學特性，進行主動式著陸機制設計及姿態控制。仿效貓的著陸特點，著重於主動式接頭之設計，提供類似於動物脊骨構造之運動型態，同時搭配感測器進行姿態偵測與回饋控制，以達到在半空中調整姿勢且安全軟著陸之目標。

首先建立雙體著陸姿態控制系統之三維實體模型，經由適當的假設，將該系統簡化成為物理模型，再針對系統運動自由度進行分析並制定描述運動姿態所需之歐拉座標系（Euler Coordinate），結合座標系轉換原理及能量法（Lagrange’s Equation）推導其動力學方程式。利用專業機構分析及模擬軟體ADAMS（Automatic Dynamic Analysis of Mechanical System）建立該系統之幾何模型與約束型態，並設定初始條件及扭力輸入以進行機構模擬，藉此了解雙體著陸姿態控制系統之動力學特性。此外，透過MATLAB數值分析運算，將前述推導之運動方程式以ODE45進行非線性方程式求解，由ADAMS及MATLAB模擬結果相互印證動力學方程式之正確性，進而從事控制器之設計。

本研究之關鍵在於設計一可以沿所需之運動自由度方向提供扭力輸出的主動式接頭連接兩桿件，利用感測器偵測桿件相對於參考座標系統之姿態變化，以進行姿態回授控制。最終目標在於將主動式著陸姿態控制機制結合高阻尼之吸振性材料、結構設計等被動式防衝擊機制，應用於提升電子產品之防摔及抗震功能。

關鍵字

主動式著陸機制 ； 軟著陸 ； 能量法 ； 感測器 ； 防摔

並列摘要

This study is dedicated to explore dynamic characteristic of double-body system at free falling. To imitate cat’s landing process, design a landing mechanism and posture control theorem. In order to provide the motion of animal’s backbone , we emphasize designing active joint to realize landing posture control mechanism. In this study, a complete dynamic model of double-body system , analyzing degree of motion and Euler-coordinate , combining homogenous transformation matrix and energy method to establish function of dynamic. Using ADAMS to build system’s model then simulation dynamic performance. In experiment scheme , we try to design an active joint to provide two degree of torque and controller design. Finally this mechanism would application in anti-drop of electric product.

並列關鍵字

landing mechanism ； posture control ； active joint ； Euler-coordinate ； ADAMS

參考文獻

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