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研究生：	陳政吉 Chen, Jeng-ji
論文名稱：	順流型俯仰姿態可調式水下載具之研發 Development of Pitch Adjustable System for Downstream Underwater Vehicle
指導教授：	林忠宏 Lin, Chung-Hung
學位類別：	碩士 Master
系所名稱：	工學院 - 系統及船舶機電工程學系 Department of Systems and Naval Mechatronic Engineering
論文出版年：	2007
畢業學年度：	95
語文別：	中文
論文頁數：	65
中文關鍵詞：	水下載具
外文關鍵詞：	Underwater Vehicle
相關次數：	點閱：73 下載：2
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本論文之主要目的，在於建立可調整俯仰差之水下載具，藉由配重位置調整，改變載具重心位置造成俯仰差改變，以壓縮空氣為上浮動力，避免載具因電力損耗而無法上浮。載具包各個子系統：浮力改變系統，訊號量測系統、俯仰差調整系統、GPS定位系統、GSM系統、WinCon控制系統與壓力殼等設備。設計所需之壓力外殼，收集國內外可供參考之文獻，製造壓力外殼並於完成後加以驗證其耐壓性。系統浮力改變量為500 g(為載具總重1.6%)，藉此浮力變化調整載具上浮或下沉。訊號量測以壓力計進行載具深度與壓縮空氣壓力判定，壓縮空氣儲存於獨立儲壓艙，確保載具上浮能力；藉由傾斜儀量測載具縱搖角度，並以配重移動進行重心位置調整，進而調整其俯仰差。於載具上浮至水面時，以GSM系統回傳GPS定位之經緯度資訊。上述各動作藉由WinCon之嵌入式系統，透過撰寫程式進行控制。以類比輸入控制器進行量測訊號輸入，以數位輸出控制器進行訊號輸出，以主控制器控制類比輸入、數位輸出控制器與位置回傳系統。本論文完成低功率損耗之水下載具雛型之建置，並驗證以重心移動進行調整俯仰差與以壓縮空氣做為上浮動力之可行性，以供相關研究做為參考。

The main purpose of this thesis is to establish an pitch adjustable system for downstream underwater vehicle (UV),the UV use compression air for float up, to avoid loss float up power by electric power loss. The UV system includes the following subsystem: buoyancy control system, measurement system, pitch adjustable system, GPS system, GSM system, Control system and pressure hull. Design pressure hull that sustains outer pressure from ocean without breaking, collect references of pressure hull, to decide size of hull, and do the experiment for proof hull is safe with sustain the design pressure. Change buoyancy for floating up and sinking down, the change buoyancy is 500 g(it’s about 1.6% of UV). Measurement include pressure sensor and inclinometer, pressure sensor used for outer water pressure and the compression air pressure, compression air be saved in independent hull, to avoid loss the power of floating up. Inclinometer used for control the pitch angle by setting the position of object of setting pitch. If the UV float up to the surface, it will catch the position data by GPS system, then send the data back by GSM system. The controller is WinCon system that a kind of embedded system, it’s a programmable automation controller, catching analog data by analog input controller and sending digital data by digital output controller. Controlling AI controller, DIO controller, GPS and GSM system by main controller. The major work is to establish a model of low power spend for UV, proof setting center of gravity to control pitch angle and used compression air to be the power of float up is work, the result provide to refer for relation researching.

摘要.................................................................................................................................... III
英文摘要............................................................................................................................. IV
誌謝......................................................................................................................................V
表目錄................................................................................................................................ IX
圖目錄..................................................................................................................................X
符號說明............................................................................................................................XII
第一章 緒論....................................................................................................................... 1
1-1 文獻回顧........................................................................................................... 1
1-2 系統架構................................................................................................................ 5
1-3 章節摘要................................................................................................................ 7
第二章 訊號量測與位置回傳系統................................................................................... 9
2-1 壓力計量測............................................................................................................ 9
2-2 傾斜儀量測.......................................................................................................... 15
2-3 GPS 系統.............................................................................................................. 17
2-3 GSM 系統............................................................................................................. 18
第三章 浮力改變與俯仰差調整系統............................................................................. 20
3-1 理論....................................................................................................................... 20
3-1-1 浮力改變................................................................................................... 20
3-1-2 俯仰差調整.............................................................................................. 20
3-2 水艙設計.............................................................................................................. 21
3-3 配重系統.............................................................................................................. 25
第四章 控制系統............................................................................................................. 27
4-1 控制器需求與選定............................................................................................ 27
4-2 WinCon 系統簡介............................................................................................. 28
4-3 控制電路............................................................................................................ 30
4-4 電池選定............................................................................................................ 34
4-5 控制器測試結果................................................................................................ 39
第五章 壓力殼設計......................................................................................................... 41
5-1 壓力殼設計流程................................................................................................... 41
5-2 壓力殼理論........................................................................................................ 41
5-2-1 Kendrick 整體挫曲破壞公式............................................................... 43
5-2-2 Geraed 整體彈性挫曲破壞................................................................... 44
5-2-3 圓筒型壓力殼平面端板之破壞理論.................................................... 45
VIII
5-2 壓力殼設計........................................................................................................ 46
5-4 水密測試............................................................................................................ 51
第六章 系統整合............................................................................................................. 53
6-1 系統整合............................................................................................................ 53
6-1-1 系統作動邏輯設計................................................................................ 53
6-1-2 管路元件選用........................................................................................ 54
6-1-3 水艙與傳動系統固定............................................................................ 55
6-1-4 WinCon 系統與sensor 位置規劃.......................................................... 56
6-1-5 電池與控制電路板位置固定................................................................ 57
6-2 遭遇問題............................................................................................................ 57
6-2-1 工作深度................................................................................................ 57
6-2-2 空間配置................................................................................................ 57
6-2-3 重心位置................................................................................................ 57
6-2-4 上浮動力................................................................................................ 58
6-2-5 固定方式................................................................................................ 58
6-2-6 壓力殼空間配置.................................................................................... 58
6-3 測試結論............................................................................................................ 59
第七章 結論與未來展望................................................................................................. 61
7-1 結論.................................................................................................................... 61
7-2 未來展望............................................................................................................ 62
參 考 文 獻....................................................................................................................... 63
自述.................................................................................................................................... 65
                                    

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校內：立即公開
校外：2007-07-18公開

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