Direction Control of a Pointing System Using Inclinometers and Accelerometers

• Main Authors: Tian-Shi Dai, 戴天適
• Other Authors: I-Kong Fong
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/zwnqk6

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.