全地形車(ATV)模擬器之最佳化設計與實現

Abstract

儘管ATV已成為一種普遍的娛樂性運動，但即使是有經驗的駕駛者還是會在不熟悉的地形發生危險。本研究的目的在於設計一種二自由度之ATV運動模擬器來模擬ATV之懸吊系統，可提供安全舒適的環境，讓使用者學習駕駛技能。針對二自由度之運動控制平台結合最佳工作空間以及機械效益的設計之可行性，作深入性的探討與分析，而且最佳化目標函數之設計方法亦將呈現。本文所提出之方法結合了一些主要的課題如：工作空間的大小、工作空間的對稱性、以及驅動系統的輸出功率要求等。在最佳化過程中運用「逆向/正向」運動學所推導之成效指標所決定的展開角，可改善運動平台之靜態與動態的成效。此運動平台亦可呈現在仿真地形之虛擬場景的ATV運動，駕駛者即使在模擬環境中亦能感受到不舒適之癲頗地形。本研究所設計的模擬器，主要利用最佳化方法求得ATV懸吊系統之動力學參數。

Driving all-terrain vehicles (ATVs) is a popular recreational facility. However, driving on an unpaved road poses risks even to an experienced ATV driver. In this work, a two-degree-of-freedom ATV motion simulator is designed to combine optimal workspace and mechanical advantage, which is considered to be important for low-cost simulators. A design method to optimize an objective function is presented. This method consolidates some major issues related to workspace volume, workspace symmetry, and actuator power requirements. Performance indices obtained from the inverse/forward kinematics are adopted to determine the design spread-angle that improves the static and dynamic performance. The motion platform, which provides a safe and comfortable environment for drivers to demonstrable their skill over an extended period, is used to simulate the dynamics of a passive ATV suspension. The proposed simulator provides a virtual ATV driving environment includes rough terrains that drivers may feel uncomfortable with even in the simulated environment. Importantly, the simulator optimizes the dynamics parameters of the suspension system, enabling ATV drivers to experience the driving activity more comfortably yet realistically. A comparison between simulation results and experimental results indicates that the simulator has high adaptability.