Direction Control of a Pointing System Using Inclinometers and Accelerometers
Date Issued
2004
Date
2004
Author(s)
Dai, Tian-Shi
DOI
zh-TW
Abstract
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.
Subjects
運動耦合
海浪干擾
史都華平台
加速規
傾斜儀
wave disturbance
inclinometer
Stewart Platform
motion coupling
accelerometer
Type
thesis
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