虛擬實境飛行模擬器之模糊PIO偵測器研發

Abstract

利用虛擬實境飛行模擬器取代實機飛行測試來訓練飛行駕駛員可解決其龐大花費及高危險性的問題，而設計良好的虛擬實境動態模擬系統可提供使用者擬真的即時互動，使其有身歷其境的感受。在現今的飛機事故之中，PIO (Pilot-Induced Oscillation，駕駛員誘發振盪)是一種常見的不穩定現象，主要是由於駕駛員的不當操作導致飛機致動器達到飽和，造成相位上的延遲，因而產生意想不到的振盪現象。本論文首先介紹所使用的虛擬實境飛行場景，推導飛機動態模型各參數間的關係，並介紹本實驗室自製力回饋搖桿的硬體結構，分析其工作空間及操作感受。接著介紹PIO現象的重要性與可能成因，以及歷年來各種偵測PIO的方法，並介紹模糊PIO偵測器，定義其於此虛擬實境飛行場景中所用到模糊變數及模糊法則，最後提出相位補償機制的觀念，將其與搖桿及模糊PIO偵測器作結合。在模擬方面，我們利用此模糊PIO偵測器各種操作狀態下的PIO傾向估測模擬，另外加入相位補償機制，藉由模擬可看出藉由相位補償確實能降低PIO傾向，使得飛行更為安全。

A salient VR dynamic simulation system can provide the user a feeling of realistic interaction. Thus, to deal with the high cost and danger problems in flight tests, we may use the VR-based flight simulator, to replace the training using real planes. PIO (Pilot-Induced Oscillation) is an infamous unstable phenomenon resulting in flight accidents. PIO is primarily due to the pilot’s improper manipulation that causes the saturation of the actuator, leading to phase lags and unexpected oscillations. In this thesis, we first introduce the VR flight scenes and discuss the establishment of a flight dynamic model. We also describe the force-reflection joystick developed in our laboratory. We then discuss those causes leading to PIOs, and methods proposed to detect PIOs through these years. Based on these discussions, we develop a fuzzy PIO detector for the VR flight simulator, and let it integrate with the technique of phase compensation to alleviate the PIO phenomena. The simulation results demonstrate the effectiveness of the proposed fuzzy PIO detector and also the phase compensation module.