| Summary: | 碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 96 === The electrically controlled six-degree-of-freedom ornithopter is a platform developed to imitate flapping motions of a bird's wing. A bird's wing is like a human's arm with each wing having two joints and each joint having three degrees of freedom. Therefore, a bird’s wing has six degrees of motion, which requires a total of six motors to complete the imitation. To faithfully follow the path of a flapping wing, the six motors have to be controlled synchronously. This thesis aims to design a motor control system, which drives the ornithopter platform to track the velocity command generated from the flapping motion of a bird’s wing. The control system is composed of a FPGA chip responsible for motor’s forward and backward motion control, digital tachometers to feedback the motor’s speed, D/A converters, and a wireless transmission system. The motor characteristics are identified first in the thesis and then used in the Matlab/Simulink environment to simulate the motion of the ornithopter mechanism driven by the proposed control system. Hardware testing is also conducted to validate the performance of the control system and to compare with the simulation results.
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