直升機即時飛行模擬環境發展與數位訊號處理器應用

The Development of a Helicopter Real-Time Flight Simulator and Application of DSP

陳俊碩(Jun-So Chen)

指導教授 ： 曾百由

國立臺北科技大學/機電學院/機電整合研究所/碩士(2006年)

https://doi.org/10.6841/NTUT.2006.00262

摘要

史都華六軸平台應用於動感模擬已經行之有年，配合虛擬實境的影音效果，作為虛擬訓練模擬環境的應用，例如飛行模擬器、汽機車及船舶的駕駛模擬等等。本論文配合史都華六軸平台的應用，自製駕駛艙裝置與液壓控制器，搭配虛擬實境場景、飛行動態運算模型，發展一個直升機即時飛行訓練模擬環境。 本論文之目的在於發展一套直升機即時飛行訓練模擬環境。本論文配合直升機即時飛行訓練模擬器的模組化，研究的內容將建構自製USB介面的駕駛艙裝置，以求達到更逼近真實的直升機駕駛艙。其次，以數位訊號處理器作為史都華平台運動控制器，並配合自製液壓驅動器，取代原廠液壓驅動器，讓整個模擬器設備功能提升與精簡化，達到降低成本與資源，具備更高的發展性。在史都華的動感模擬應用上，搭配史都華平台偏移點的運動校正與動感法則，更完整呈現真實飛行訓練的模擬環境與動感模擬。在程式設計方面可分兩個階段完成，首先使用Matlab的Simulink 進行設計；其程式編輯環境為圖形化介面的方式，編譯產生相關程式，減少程式撰寫上的麻煩。其次將依循傳統人工撰寫程式的模式開發處理器程式。研究並將會探討使用圖形化介面的程式編輯與直接人工撰寫程式的優缺點，並與過去所發展的VisSim軟體結果做比較分析。

關鍵字

史都華平台 ； 動感模擬 ； 虛擬實境 ； 飛行模擬 ； 數位訊號處理器

並列摘要

Stewart Platform has been used a motion cue device for many years. It cooperates with virtual reality as an application of simulation environment for virtual training, such as simulators of helicopter aviation and ship navigation etc... In this study, a Stewart Platform was applied to create a cockpit motion and a hydraulic controller is installed. Cooperating with virtual reality and dynamic model of helicopter, a real-time simulation environment for helicopter aviation training was developed.
This thesis aims to develop a real-time simulation environment for helicopter aviation training. A real-time simulator for helicopter aviation training was modulized. To achieve realistic helicopter cockpit, USB interface was used to construct the cockpit control interface. Besides, Digital Signal Processor (DSP) TMS320F2812 was employed to perform motion control of the Stewart Platform. Moreover, a hydraulic driver was constructed. As a result, the simulator was simplified and better performance was also obtained so that cost and resources needed were reduced. This leads to a high applicability of the proposed system. In the application of dynamic simulation of the Stewart Platform, motion calibration and dynamic of a offset point were considered so that simulation environment and dynamic simulation of realistic aviation training were implemented. The approach was divided in two steps. First, the software MATLAB/Simulink was utilized controller design. Second, the DSP program was written in traditional coding method. The advantages and disadvantages of graphic and traditional programming were compared. The results were compared with those obtained by using the software VisSim.

並列關鍵字

Stewart Platform ； Motion Cue ； Virtual Reality ； Flight Simulation ； DSP

參考文獻

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