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題名 | 六自由度船舶運動模擬機與虛擬實境之整合研究=Study on the Integration of a Six-Degree-of-Freedom Ship Motion Simulator and Virtual Reality |
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作者 | 吳聰能; 郭振華; 陳義男; 陳文慶; | 書刊名 | 國立臺灣大學工程學刊 |
卷期 | 79 2000.06[民89.06] |
頁次 | 頁43-53 |
分類號 | 448.51 |
關鍵詞 | 船舶運動模擬機; 六自由度; 史都華平臺; 虛擬實境; Ship motion simulator; Six-degree-of-freedom; Stewart platform; Virtual reality; |
語文 | 中文(Chinese) |
中文摘要 | 本文設計一台具有六自由度的運動模擬平台,並結合虛擬實境及船舶 運動模擬,開發出六自由度實時互動之船舶運動模擬機。在運動平台部份,我們 利用油壓缸長度的變化作為伺服控制命令傳給控制器,再透過電液伺服系統驅動 此模擬機,來達成運動平台在空間中作六自由度運動之目的。在自行開發之操船 虛擬實境軟體中,我們代入實際船舶運動參數以真實模擬船舶之運動。最後,在 一般個人電腦及Windows95作業系統環境下,整合電腦影像繪製與液壓伺服控 制系統,並配合實際船舶運動模擬,完成影像與機構運動的精確同步,在800 �e 600 解析度256色4,000 polygons繪製虛擬實境畫面的情況下,可達到每秒30 ~ 40 個畫框的呈現速率,實現虛擬實境系統與使用者的實時互動。 |
英文摘要 | In this paper, we integrate ship motion virtual reality software with a Stewart platform to accomplish a six-degree-of-freedom ship motion simulator. We give the length of the hydraulic cylinder as servo command to the amplifier and drive the simulator by electro-hydraulic servo system to attain the platform to six-degree-of-freedom motion. We also develop ship motion virtual reality (VR) software and apply the actual ship motion parameters in our VR program to simulate ship motions. Finally, we combine the VR and electro-hydraulic servo system with ship motion simulated using a PC base computer with windows95 OS, and then the six-degree-of-freedom ship motion simulator is completed. The refresh rate is at least 30 ~ 40 frames per second under the circumstance of 800 �e 600 resolutions and 256 colors of VR image built by 4,000 polygons to accomplish real time communication between the VR system and users. |
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