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無人駕駛車輛自動導航控制系統之建置

為了解決Yamaha MG16XU的問題，作者曾國鎮 這樣論述：

摘要 iABSTRACT ii誌謝 iv目錄 v表目錄 vii圖目錄 viii第一章 緒論 11.1 前言 11.2 研究動機 11.3 文獻探討 21.4 研究目標 91.5 研究方法 101.6 論文架構 11第二章 無人駕駛系統架構與規劃 122.1 車體架構 122.2 車體功能控制系統硬體架構 132.3 外部操作介面 132.4 系統架構 152.4.1 車體控制系統硬體架構 172.4.2 導航運算系統硬體架構 182.5 導航定位硬體架構 192.6 操作模式 21第三章 車體控制 233.1 車體運動分析 233.2 速度及角度之控制迴圈 25第四章 定位系統之架設與驗證

304.1 定位資訊 304.2 靜態定位精度測試 334.3 動態定位精度測試 38第五章 導航路徑追蹤增益調整測試與討論 405.1 路徑建置與控制命令 405.2 路徑追蹤增益參數測試 415.2.1 直線前進(G01) 415.2.2 順時針轉彎(G02) 495.3 測試結果與討論 53第六章 結論與未來展望 546.1 結論 546.2 未來展望 55參考文獻 56符號彙整 59

採用雙氣隙拓撲的高功率密度集成電機和發電機

為了解決Yamaha MG16XU的問題，作者秦威瑟 這樣論述：

Electric Motors are the mostly sort device needed to drive machineries, and mostly suitable to replace combustible engines, thus, the rise in demand for electric motors in recent time. This demand has equally increased the world energy consumption, with electric machines contributing to more than 4

0% alone. Improving electric machine to be more functional and verse in its application will help reduce this surge in energy consumption. Proposed in this thesis is a high power density radial double stator electric machine coupled with an axial magnetic gear, and its design is based on the dual ai

r-gap topology. Traditional electric machines have limits with regards to its size-to-power ratio, which is constrained by the bulky rotor core inherent in single air-gap electric machines. By replacing the bulky rotor and adopting the dual stator topology, this thesis is able to show that the power

density of the electric machine is higher than similar topologies in the literature. Not being ignorant of the saturation effect and limited space for magnet, the rotor magnets were optimally placed so that the flux in the air-gaps is improved. The coupled magnetic gear contributed greatly in makin

g the electric machine function as a motor and generator simultaneously due to its gear ratio feature. With this design, the motor possesses unique advantages which include, overload protection, torque fuse, high torque and low speed during motoring, and high speed and low torque during electric gen

eration, thus making it more versatile in application.This thesis also provides analysis of the dual air-gap electric machine using a block diagram approach, leading up to the design of the high power density electric machine. Equivalent magnetic circuit, block diagram approach and finite element an

alysis are some of the tools adopted in analyzing the electric machine. Also, prototypes were designed at different stages to validate the results of the numerical solutions, analytical solutions or finite element analysis. Results across these research tools are in agreement in every stage of the s

tudy.