飛行模擬器之運動平台設計與運動視效匹配問題研究

Abstract

本論文係針對飛行模擬器之平台設計準則、安全防護、運動與虛擬實境視效之匹配問題等作一整體性之研究。文中建立一套六自由度史都華運動平台，以勝任各種飛行載具在慣性空間運動之模擬。即時閉迴路動感法則系統僅需將驅動律作小幅度修改即可適合每個運動之應用。另外，以系統化之方法，由平面三自由度平行操作器之整個可達空間找出個別工作區間分支，經過工作區間分支的確認可定義出適合運動控制之工作區間，本論文並以一些例子討論分支跨越之情形，期能將此結果應用在複雜的六自由度運動平台之分析中。這些新的分析包括了飛行模擬平台工作空間之計算、靈巧工作空間之計算、奇異點分析、以及避免奇異點之動力學改善等，可提供運動平台、飛行模擬器，及空電系統與座艙人機界面整合之設計準則。

The dissertation discusses the motion base design criteria, safeguard system, and matching between motion and VR vision for a flight simulator. A six degree-of-freedom Stewart motion base is established, to perform subjected flying vehicle simulation in the inertial space. The real time close-loop motion cueing system needs only a minor tuning to the drive law for each motion application. A systematic method is used to distinguish the individual workspace branches from the entire reachable space of a planar three-degree-of-freedom parallel manipulator. Following the identification of workspace branches, a workspace suitable for the motion control is defined and discussed in some examples of the branch-crossing conditions, in order to expand the results to the complicated analysis of six-degree-of-freedom motion base. Several new methods, including workspace, dexterous workspace, singularity analysis, and the improved dynamics to avoid singularity are provided as the criteria for the motion base, flight simulator, and the integration between Avionics system of the flight simulator and the cockpit pilot vehicle interface.