本論文目的主要是發展一套動感模擬器之互動平台系統,將虛擬實境(Virtual Reality)場景中的動態數據,透過電動史都華平台實現出來,而此動感模擬平台系統包含虛擬實境、網路傳輸、動感法則與運動控制之四大部分。 在整體系統架構上,主要利用虛擬實境軟體之物理模型計算出運動的加速度與角速度,並經由網路傳輸的方式將物理模型計算出運動的加速度與角速度傳送給動感法則計算出平台姿態值,透過運動控制來完成動感模擬平台的作動。其中動感法則以古典沖淡濾波器演算法為核心演算法,而運動控制則是利用逆向運動學運算出平台各桿件伸長量作為控制之命令。 本研究所使用的平台控制器為凌華科技所開發的串列式伺服馬達控制卡,並採用三菱電機的伺服器MELSERVO-J2-Super350B與伺服馬達HC-SFS352,且具有SSCNET串列伺服技術作為動感模擬平台之硬體控制系統。而電動史都華平台系統經由動態響應諧波運動測試實驗中,發現平台的動態響應之頻寬並沒有預期的要來的高,故模擬平台系統於虛擬實境作互動時,平台作動並不是很順暢。而為了要改善此缺失,故同時研發自製DSP控制器並針對單支致動器作測試實驗,並完成相關的六軸DSP控制電路規劃。
This paper aims to develop an interaction platform system of Dynamic Simulator which could perform the dynamic data of Virtual Reality through the Electric Stewart Motion Platform. The system includes four parts: virtual reality, internet transfer, motion cue, and motion control. The system structure, uses the physical model of Virtual Reality software to calculate the acceleration and angular velocity motion, and sent the data to the motion cue module to calculate the displacements and attitudes. The main calculation of motion cue adopts the Classical Washout Filter Algorithm, and the motion control makes use of inverse kinematics to calculate the extension of each linkages. The platform controller in this research is a serial servo motor control card which is developed by ADLINK Technology, and compatible with the MITSUBISHI servo drive, MELSERVO-J2-Super 350B, and the servo motor, HC-SFS352. Moreover, the SSCNET serial servo technology is applied as the hardware control system of the Stewart Platform. After the dynamic response experiment, the bandwidth of Electric Stewart Motion Platform was found not as high as expected. Therefore, to improve the drawback of the system, a DSP controller has been explored and tested with a single actuator.
為了持續優化網站功能與使用者體驗,本網站將Cookies分析技術用於網站營運、分析和個人化服務之目的。
若您繼續瀏覽本網站,即表示您同意本網站使用Cookies。