本研究係利用雙慣性感測器，設計一種不受地型因素限制並適用於水下環境的轉動角度估測模組，再整合壓電轉向致動器設計水下載具專用之主動式轉向LED照明系統(Adaptive Front LED Lighting System, AFS)。雙慣性轉向照明系統係由轉向角度估測模組與轉向驅動模組組成，其中轉向角度估測模組係整合雙三軸慣性感測器與轉向估測演算法計算獲得載具轉向角度再結合燈具照明光型特性，依據LED燈具的照明距離及光源出光角估測載具最大轉動角度。轉向驅動模組，是由對稱型壓電元件(Symmetric Piezoelectric Element，SPE)與衍架型(Trussed Structure)正向預壓力機構兩大部分組合而成。最後以微控制器整合轉向角度估測模組及轉向驅動模組，完成水下載具主動式轉向LED照明系統之設計，並由實驗結果得知在靜態測試方面，轉向驅動模組由驅動頻率為209kHz驅動下，轉速最高可達257.14rpm，最大負重最重可承載420g，步進角度最小轉動角約為0.148˚；在動態測試方面，本研究將主動式轉向LED照明系統於水下測試並完成AFS之作動效果。未來可將攝影機納入本系統中即可形成水下載具的主動式視覺系統，以提升AUV或ROV在水下的探勘技術能力，實現將主動式的動態回饋感測概念導入水下應用領域。

This proposal presents an adaptive vehicle rotate angle system using dual micro-inertial sensor, which can apply to underwater environment. The system consists of vehicle rotate angle estimation module and PZT driving module to form adaptive front LED lighting system. Driving module is composed of two core components: symmetrical piezoelectric element and trussed preload structure. The design of the symmetrical piezoelectric element is utilizing the finite element analysis to simulate its motion characteristics, in order to get the fixed point and the driving point. The piezoelectric actuator of the preload structure design improves the general linear preload track type into torque track type, to further simplify the linear preload track into rotation track and introduce the truss structure component concept to ameliorate preload skew problem, and design a triangular truss-type preload mechanism, and then to integrate with SPE as a driving module. Finally realizing the active dynamic feedback sensing concept and enhance AUV or ROV in underwater exploration technology capability.

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