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研究生：	賴韋勳 Lai, Wei-Hsun
論文名稱：	應用線性推桿於雙駕駛超輕飛機之設計與實現 Design and Implementation of Linear Actuator in Dual Pilot Ultra-Light Aircraft
指導教授：	林清一 Lin, Chin E.
學位類別：	碩士 Master
系所名稱：	工學院 - 航空太空工程學系 Department of Aeronautics & Astronautics
論文出版年：	2015
畢業學年度：	103
語文別：	英文
論文頁數：	67
中文關鍵詞：	雙駕駛系統、超輕飛機、線性推桿傳動系統
外文關鍵詞：	Dual Pilot System, Ultra-Light Aircraft, Linear Actuator Drive System
相關次數：	點閱：143 下載：2
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為了實現雙駕駛超輕飛機，在之前的研究中提出使用離合器於傳動機構中來達到切換飛行模式的效果，然而此一離合器卻有無法順利切換接合的問題。本論文題出使用非接觸式離合器來取代原本的接觸式離合器，透過改善離合器的接合問題來增加機構的可靠度，設計出一個新的線性推桿傳動機構，並且提出方法改善機構的順暢度。本研究基於電腦輔助設計，製造修改並整合機構，建立線性推桿傳動機構。本文最後以離合器的接合測試，以及控制系統的響應測試來驗證本論文所設計的線性推桿傳動機構有更好的可靠度與操作性能。

In the sky-net project, previous study proposes the dual-pilot system because of the demand for switching control mode. Previous electronic control system applies the clutch to switch the control mode. However, the clutch has the problem that it cannot connect smoothly or even cannot connect. In order to increase the reliability of mechanism, this thesis proposes to apply non-contacting type clutch to replace the original contacting type clutch in the new design of the linear actuator control system. In addition, the thesis proposes some smoothness improvement of mechanism. Based on computer aid design to realize the proposed idea, the linear actuator control system is manufactured. This thesis verifies the clutch test and the response test on the proposed linear actuator control system for its performance improvement. The comparison of the test results show that the proposed linear actuator control system has better reliability and controllability.

Abstract i
摘要 ii
誌謝 iii
Contents iv
List of Figures vii
List of Tables x
Chapter 1 1
Introduction 1
1.1 Motivation 1
1.2 Previous Work Survey 3
1.3 Main Idea 4
1.4 Thesis Outline 6
Chapter 2 7
Fundamental Analysis of ULA and Previous Electronic Control System 7
2.1 Introduction of ULA, Quicksilver Sport 2S 7
2.2 Introduction of Control Surfaces 12
2.2.1 Elevator Mechanism 12
2.2.2 Aileron Mechanism 13
2.2.3 Rudder and Nose Wheel Mechanism 14
2.3 Previous Electronic Control System Mechanism 15
2.4 Summery of Configuration 18
Chapter 3 19
Mechanism Design of Linear Actuator 19
3.1 Design Consideration 19
3.2 Ball Screw 21
3.3 Electromagnetic Clutch 23
3.4 Rotary Encoder 26
3.5 DC Motor & Pulley System 27
3.6 Sliding Rod & Linear Bearing 30
3.7 Frame 31
Chapter 4 32
Linear Actuator System Control 32
4.1 Microcontroller of Control System 32
4.2 Program Design 35
4.2.1 PWM Input Capture 36
4.2.2 Counting for Encoder 37
4.2.3 Top and Bottom Dead Center 38
4.2.4 Feedback Control Loop 39
Chapter 5 41
Integration and Experiments 41
5.1 Installation 41
5.2 Linear Actuator Performance Analysis 46
5.2.1 System Order Verification 46
5.2.2 Step Response Test 49
5.2.3 Ramp Response Test 55
5.2.4 Remote Test 61
5.3 Clutch Test 61
5.4 Performance Improvement 62
Chapter 6 64
Conclusion and Prospect 64
6.1 Conclusion 64
6.2 Prospect 64
References 66
                                    

[1] H. Y. Chen, “Hydraulic Control System Design for Unmanned Ultra-Light (UUL)” Master Thesis, Department of Aeronautics and Astronautics, National Cheng Kung University, 2013.
[2] Hayashida Ryuhei, “Servo System Design for Dual Pilot Ultra-Light Aircraft”, Master Thesis, Dept. of Aeronautics and Astronautics, National Cheng Kung University, 2014
[3] Quicksilver Sport 2S Image, Available in June 2015 from website:
http://97.74.157.83/for_sale/plane_for_sale_listings_sold.htm
[4] Eipper Aircraft Sport 2S Datasheet, Quicksilver Mfg.®, California, U.S.A., Available in June 2015 from website:
http://www.quicksilveraircraft.com/Sport-2S-Spec-2.php
[5] Ballscrews Technical Information, HIWIN Technologies Corp, Available in June 2015 from website: http://www.hiwin.tw/
[6] Electromagnetic Clutch Datasheet, Chain Tail Co., Ltd., Available in June 2015 from website: http://www.chaintail.com
[7] Encoder Datasheet, Taiwan Koyo Electronics Industries Co., Ltd., Available in June 2015 from website: http://www.koyoele.com.tw/index.php
[8] DC Motor Datasheet, NRC Engineering & Trading Co., Ltd., Available in June 2015 from website:
http://www.nrc.com.tw/index.html
[9] STM32F103 Datasheet, STMicroelectronics, Available in June 2015 from website: http://www.st.com/web/en/home.html
[10] Photo pointer Datasheet, Vishay Intertechnology, Inc., Available in June 2015 from website:
http://www.digikey.com/product-detail/en/TCST2300/TCST2300-ND/1681172
[11] E. D. Ruiz-Rojas, J. L. Vazquez-Gonzalez, R. Alejos-Palomares, A. Z. Escudero-Uribe, J. R. Mendoza-Vazquez, “Mathematical Model of a Linear Electric Actuator with Prosthesis Applications” IEEE Electronics, Communications and Computers, 2008, pp. 182-186.

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