Direction Control of a Pointing System Using Inclinometers and Accelerometers
碩士 === 國立臺灣大學 === 電機工程學研究所 === 92 === Abstract Vessels moving on the ocean are constantly disturbed by waves no matter they are powered or not. This situation is different from that for the vehicle on the land. In previous researches, motion states of tanks are assumed to be available, and useful...
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ndltd-TW-092NTU054420152019-05-15T19:37:48Z http://ndltd.ncl.edu.tw/handle/zwnqk6 Direction Control of a Pointing System Using Inclinometers and Accelerometers 使用傾斜儀及加速計之指向裝置的定向控制 Tian-Shi Dai 戴天適 碩士 國立臺灣大學 電機工程學研究所 92 Abstract Vessels moving on the ocean are constantly disturbed by waves no matter they are powered or not. This situation is different from that for the vehicle on the land. In previous researches, motion states of tanks are assumed to be available, and useful for controlling the turret to keep tracking targets. In contrast, when the same method is applied to control turrets or other pointers mounted on oceanic vessels, inaccuracy caused by the wave disturbance needs extra considerations, especially those due to the surge acceleration or sway acceleration of waves, which are orthogonal to the gravitational acceleration but can be measured by the inclinometers. They cause measurement errors with the inclinometers, as the tilt information is coupled with the translational accelerations. Therefore more sensors, preferably not expensive ones, are necessary to obtain more information, which when processed together by proper algorithms can generate accurate tilt data. With simulations and experiments implemented on a Stewart Platform based system, it is shown here that more correct motion state information of vessels subject to the above-mentioned disturbance can be obtained. Furthermore, feedback of the corrected sensor data does make pointers on the vessel track target position more precisely. I-Kong Fong 馮蟻剛 2004 學位論文 ; thesis 50 zh-TW |
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碩士 === 國立臺灣大學 === 電機工程學研究所 === 92 === Abstract
Vessels moving on the ocean are constantly disturbed by waves no matter they are powered or not. This situation is different from that for the vehicle on the land. In previous researches, motion states of tanks are assumed to be available, and useful for controlling the turret to keep tracking targets. In contrast, when the same method is applied to control turrets or other pointers mounted on oceanic vessels, inaccuracy caused by the wave disturbance needs extra considerations, especially those due to the surge acceleration or sway acceleration of waves, which are orthogonal to the gravitational acceleration but can be measured by the inclinometers. They cause measurement errors with the inclinometers, as the tilt information is coupled with the translational accelerations. Therefore more sensors, preferably not expensive ones, are necessary to obtain more information, which when processed together by proper algorithms can generate accurate tilt data. With simulations and experiments implemented on a Stewart Platform based system, it is shown here that more correct motion state information of vessels subject to the above-mentioned disturbance can be obtained. Furthermore, feedback of the corrected sensor data does make pointers on the vessel track target position more precisely.
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author2 |
I-Kong Fong |
author_facet |
I-Kong Fong Tian-Shi Dai 戴天適 |
author |
Tian-Shi Dai 戴天適 |
spellingShingle |
Tian-Shi Dai 戴天適 Direction Control of a Pointing System Using Inclinometers and Accelerometers |
author_sort |
Tian-Shi Dai |
title |
Direction Control of a Pointing System Using Inclinometers and Accelerometers |
title_short |
Direction Control of a Pointing System Using Inclinometers and Accelerometers |
title_full |
Direction Control of a Pointing System Using Inclinometers and Accelerometers |
title_fullStr |
Direction Control of a Pointing System Using Inclinometers and Accelerometers |
title_full_unstemmed |
Direction Control of a Pointing System Using Inclinometers and Accelerometers |
title_sort |
direction control of a pointing system using inclinometers and accelerometers |
publishDate |
2004 |
url |
http://ndltd.ncl.edu.tw/handle/zwnqk6 |
work_keys_str_mv |
AT tianshidai directioncontrolofapointingsystemusinginclinometersandaccelerometers AT dàitiānshì directioncontrolofapointingsystemusinginclinometersandaccelerometers AT tianshidai shǐyòngqīngxiéyíjíjiāsùjìzhīzhǐxiàngzhuāngzhìdedìngxiàngkòngzhì AT dàitiānshì shǐyòngqīngxiéyíjíjiāsùjìzhīzhǐxiàngzhuāngzhìdedìngxiàngkòngzhì |
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