水中載具開發時，常需要用到水槽作性能測試，不同的性能測試需考量的因素也不一。我們藉用飛行載具與水中載具的相似性來建構模擬平台，並針對水中載具的特性，以及配合模擬平台的酬載，裝置了微型無線攝影機、編碼器、直流馬達與螺槳及配重盤，希望可以先以模擬平台來探討其特性，作為設計水中載具的依據。模擬平台系統開發上，透過影像伺服控制的方式，使其能追循著目標移動。影像追循時，為了能快速搜尋到目標物以及達到即時(real-time)的效果所需，我們在影像擷取時以擷取8 bits灰階影像的方式來增快速率，配合目標物偵測演算較不複雜的亮度重心法，演算效率大約有15fps。
本文利用線性控制的概念，設計了PD（比例－微分）控制器，以目標物實際位置與目標位置之間的誤差量作為回授訊號，透過RS-232輸出修正誤差命令給推進器驅動模擬平台，使目標物能維持在畫面中心。本實驗室所研發的水下載具承載海床粗糙度雷射掃描系統後，需要有準確的離底高度，因此水中載具的浮力大小、推進器的動態反應等因素皆需納入考量。我們就上述兩個因素利用此模擬平台以角度追循及影像追循的方式，探討當載具分別在中性浮力、具浮力與重力及推進器不同的動態反應模式的條件下，對載具高度控制的影響。

In the development of underwater vehicles, it is necessary to conduct performance test in the water tank. However, different factors need to be considered depending on different cases. The purpose of this paper is to construct a simulation platform in the air to study the scenarios like side current or constant height profiling. Although these tests are difficult to be performed in the water tank, we can get some solutions from observing the dynamics of simulation platform. The simulation platform we used consists of three links to constraint the motion in a polar coordinate system. It carries a wireless micro-camera, and two DC motor-driven propellers. At the end of the distal link and metal disk is attached on the other side of the pivot of the last link to provide counter-weight which can simulate different status of the "buoyancy" of the platform. The encoder which is uses to trace the motion of the simulation platform, is mounted at each join between two links. The control program has two parts: servo control of propellers and target tracking. In order to approach to the real-time searching, we derived image with gray scale instead of color form to increase image refreshing rate during the tracking process. For the current experiment, the target is at dot generated by an LED. The location of the bright dot is detected by a histogram-based threshold, and the actual location is further refined with intensity-weighted algorithm. The offset between of the target and the center of the image is used as the feedback to command the propellers to drive the platform. The goal is to keep the target at the center of the image as close as possible. A linear PD control (proportional - derivative) is implemented to drive the propellers. Preliminary experiments show that the simulation platform can track a target with about 15 frames per second refreshing rate under the condition that the target does not move too fast and vanishes in the image. When ROV with laser scanner syetem, seafloor away from ROV's accuracy is necessary. In this eassay, we use tracking angle and tracking bright dot to qualify and quantify the influence of buoyancy and propeller on the altitude control in different cases.

目錄
第一章 緒論 1
1.1研究動機………………………………………………………1
1.2文獻回顧………………………………………………………2
1.3研究目的………………………………………………………4
1.4論文架構………………………………………………………4
第二章 載具系統架構 6
2.1載具與環境……………………………………………………6
2.2硬體架構………………………………………………………8
2.3直流馬達推進性能分析………………………………………11
第三章 伺服控制與系統整合 14
3.1影像擷取………………………………………………………14
3.2目標物偵測……………………………………………………16
3.3控制器設計……………………………………………………20
第四章 實驗 25
4.1環境設定………………………………………………………25
4.2定高控制………………………………………………………27
4.3影像追循………………………………………………………42
第五章 討論與結論 56
5.1討論……………………………………………………………56
5.2成果……………………………………………………………58
5.3結論……………………………………………………………60

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