臺灣博碩士論文加值系統

本論文研究的主要目的是提供測試和改進多體車輛系統包括電動代步車與高機動履帶車輛的設計和製造能力的方法和技術。本論文主要研究多體車輛系統的轉向機構，傳動機構和承載結構模組。在這項研究中，本研究將估算撓性體轉向機構，傳動機構和承載結構的靈活性對動態轉向，傳動力和響應計算的影響。通過使用現代電腦和CAE（電腦輔助工程）軟體的計算能力和模擬，可以計算和執行動態響應，動態應力分佈和模態測試。這些數據可用作相應製造商的設計和製造參考。對於模態分析，可以將衝擊鎚，數據記錄儀，加速度計，激光光學位移感測器，頻譜分析儀和動態模擬軟體應用於電動代步的關鍵模組，以執行振動模態和動態分析。
此外，本論文亦介紹近年來開發的幾種運用於履帶車輛動態分析的建模方法。這些方法應用於同時考慮履帶鏈節和車輛模組之間的相互作用的顯著的力效應。在研究開發本論文所討論的順應軌道模型時遇到兩個主要困難點。第一個必須克服的問題點乃是由於集成步長必須保持較小以保持數值解的數值穩定性。該解決方案包括由脈衝接觸力產生的高振盪信號和使用剛性柔順元件來呈現履帶鏈節之間的接頭。在本研究中使用柔順元件的特徵來描述軌道接頭是通過實驗測量的。採用具有相對大的穩定區域的數值方法以保持求解精度，並且使用可變步長積分算法以提高效率。本研究遇到的第二個困難克服點是由於三維多體高機動履帶車輛模型的大量系統運動方程組。通過求解底盤和軌道子系統的運動方程來解決維數問題。遞迴方法運用於獲得機械子系統的最小方程組。為了證明本研究中提出的方法的有效性和正確性，對於包括高移動性車輛的加速運動，高速運動，制動和轉向運動在內的幾種模擬不同接觸地面摩擦條件下進行測試與驗證。
本論文的另一研究為在數值分析工具的支持下對多體車輛製造系統(工業機械臂和CNC工具機)的模擬。 討論驅動系統的動態和控制理論特徵。在電腦輔助設計軟體中，可以快速建立工業機械臂和CNC工具機驅動系統的簡單基本模型，其中涉及材料，慣性等的整個規範。因此，在電腦輔助工程軟體RecurDyn中對原型進行模擬。這些模型由Matlab/Simulink中內置的控制器通過協同模擬驅動。該結果與理論相符，並且可以用於擴展複雜有效因子。研究顯示對於多體車輛製造系統(工業機械臂和CNC工具機)，可以通過數值方法來進行動態分析和控制。

The main objective of this dissertation is to provide the methods and techniques to test and improve the design and manufacturing ability of multibody vehicle systems including the electric scooters and high-mobility track vehicles. This research study focuses on the steering mechanism, transmission mechanism and carrying structure parts. In this investigation, we will estimate the effects of flexibility of the flexible steering mechanism, transmission mechanism and carrying structure on the computation of the dynamic steering, transmission forces and responses. By using the computational ability and simulation of modern computers and CAE (Computer-Aided Engineering) softwares, the dynamic responses, dynamic stress distribution and modal tests can be calculated and performed. These data can be used as the design and manufacturing references of corresponding manufacturers. For the modal analysis, the impact hammer, data recorder, accelerometer, laser optical displacement sensor, spectrum analyzer and dynamic simulation software can be applied on the key parts of the electric scooter to perform the vibration modal and dynamic analysis.
In this dissertation, several modelling methods had recently been developed for the dynamic analysis of tracked vehicles. These methods are used demonstrate the significant force effects of the interaction between the track links and vehicle components. There are two major difficulties encountered in developing the compliant track models discussed in this dissertation. The first problem is due to the integration step size must be kept small in order to maintain the numerical stability of the solution. This solution includes high oscillatory signals resulting from the impulsive contact force and the use of stiff compliant elements to present the joints between the track links. The characteristics of the compliant elements use in this dissertation to describe the track joints were measured experimentally. A numerical method having a relatively large stability region is employed in order to maintain the solution accuracy, and a variable step size integration algorithm is used in order to improve the efficiency. The second difficulty encountered in this dissertation is due to the large number of the system equation of motion of three-dimensional multi-body high-mobility tracked vehicles model. The dimensionality problem is solved by decoupling the equations of motion of chassis and track subsystems. Recursive method is used to obtain a minimum set of equations for the chassis subsystem. Several ground friction simulation scenarios including an accelerated motion, high-speed motion, braking, and turning motion of high-mobility vehicle are tested and verified in order to demonstrate the effectiveness and validity of the methods proposed in this dissertation.
In this research, it also presented simulation of multibody vehicle manufacturing systems (Industrial robot and CNC machine tools) with the support of numerical CAE tools. The dynamic and cybernetic characteristics of driving system are discussed. Simple prototype models of robot arm and machine tools driving system are quickly established in Computer Aided Design (CAD) software in which the whole specification of material, inertia and other related properties are involved. Therefore, the prototypes are simulated in the CAE software - RecurDyn. The models are driven by controllers built in Matlab/Simulink via co-simulation. The results are suitable with theory and able to explored for expansion of complexly effective factors. This research indicates that dynamic analysis and control could be done via numerical method for multibody vehicle manufacturing systems (Industrial robot and CNC machine tools).

摘要...i
Abstract...iii
誌謝...vi
目錄...vii
表目錄...x
圖目錄...xi
符號和簡稱...xv
第一章 緒論...1
1.1 多體系統...1
1.2 開迴路多體系統...4
1.3閉迴路多體系統...8
1.4 多體車輛與相關製造系統...9
1.5 論文架構...12
第二章 多體動力學理論...14
2.1 座標系...14
2.2 旋轉矩陣...18
2.3 剛體...26
2.4 使用模態方法的運動方程式...32
2.5 節點運動方程式...34
2.6 誤差測量...35
第三章 多體電動代步車系統...37
3.1 電動代步車的真實模型和CAD模型...38
3.2 轉向機構的動態行為...39
3.3 應力/應變與模態分析...42
3.4 實驗模態分析(EMA: Experiment Modal Analysis)...46
3.5 動態路線試驗...50
3.5.1電腦模擬與疲勞測試機台結果比較...53
3.5.2 電腦模擬與障礙道路實測結果比較...54
第四章 多體高機動履帶車輛系統...56
4.1 高機動履帶車輛...58
4.2 履帶車動力方程式...60
4.3 獨一的構造...61
4.4 接觸力...64
4.5 數值模型...68
第五章 多體車輛製造系統(工業機械臂和CNC工具機)...77
5.1 伺服驅動連桿系統動力學...78
5.2 數值範例(車輛製造工業機器人)...79
5.3 數值範例(車輛製造CNC工具機)...81
第六章 結論與未來展望...84
6.1 結論...84
6.2 未來展望...86
參考文獻...87
Extended Abstract...101

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