本研究為開發虛擬實境(Virtual reality, VR)結合可旋轉之多軸運動平台應用於飛行
模擬訓練系統，虛擬實境技術為近年來之新穎科技之一，其優勢為可根據需求進行
影像設計，故應用之領域相當廣泛，主要有媒體娛樂、教育訓練、醫療輔具、駕駛
模擬以及軍事演練等，其中駕駛訓練通常為利用相對應的模擬器來增加駕駛員之
操作成熟度以避免實際訓練失誤之風險。傳統式訓練模擬器之影像通常為使用一
般顯示器且其所搭配之模擬器可動靈活度較低，學員訓練真實度下降，導致訓練效
果不佳，因此本研究將開發可旋轉之多軸運動平台，透過於平台中央設計單一可
360 度旋轉座椅平台，並利用諧波曲線結合逆向運動學求出運動軌跡與馬達輸出對
應角度，再經由機構設計軟體Solidworks 進行結構設計與應力分析，最後將虛擬
環境中之飛機姿態作為平台運動軌跡進行模擬訓練。虛擬實境影像則以HTC 公司
開發之虛擬影像設備Vive Pro 為設備基礎，結合Unity 3D 軟體進行虛擬環境建構，
為了提升虛擬影像與飛行員訓練真實度，本研究將飛機於實際環境中之基本飛行
運動原理、實際飛機推進力以及相關空間物理系統(重力及阻力)編譯至虛擬環境中，
並將外部飛行操作組(飛行搖桿、飛行油門及飛行腳舵)之訊號透過Virtual Studio C
# 軟體設計出具有高互動功能虛擬飛機操控程式，最後於多軸運動平台之上平台
中心位置安裝高性能9 軸運動追蹤感應器(MPU9250)來取得運動平台之角度與加
速度數據，並以滑動加權法對陀螺儀做一次濾波，再將濾波後之數據結合加速規進
行卡爾曼濾波演算，使整體量測誤差百分比降低90%，最後將量測結果與運動模
擬結果進行比對後，可測得平台俯仰運動馬達輸出誤差為5.5%，翻滾運動馬達輸
出誤差為7.5%，平台俯仰運動軌跡角度平均誤差為0.4 ˚，平台翻滾運動軌跡角度
平均誤差為0.29 ˚，故運動學運算軌跡之準確性可達90%，而平台運動性能之垂直
極限G 力達0.34 G、翻滾極限G 力達0.73 G、俯仰極限G 力達0.51 G、及旋轉極
限G 力達0.5 G，足以提供使用者足夠的體感回饋力道，增加訓練真實度。本研究
虛擬實境可旋轉多軸運動平台應用於飛行模擬訓練系統，可依需求自行增設各項
地形與環境於虛擬影像，加強飛行員之駕駛成熟度與應變能力，還可以避免真實訓
練環境之危險，且使用三自由度之運動平台還能提供低成本與高負載之優勢，使得
訓練系統更能普及於各種領域中。

The purpose of this paper was to develop virtual reality (VR) combined with a rotatable multi-axis motion platform applied to flight simulation. In recent years, virtual reality is one of the emerging technologies. The application fields were quite extensive including media entertainment, education and training, medical aids, driving simulation, and military exercises, etc. The driving training usually used the corresponding simulator to increase the driver's operational maturity to avoid the risk of actual training. The image of a traditional training simulator was a monitor so that the simulator was equipped with a low real and immersion. It would result that the authenticity was reduced and in poor training. This paper would develop a rotatable multi-axis motion platform by designing a single 360-degree rotating seat in the center of the platform. The angle of the trajectory and motor output was calculated by harmonic curves combined with inverse kinematics. Mechanical design and stress analysis were used the structural design software Solidworks. The virtual reality image was based on the virtual image device Vive Pro developed by HTC and was combined with Unity 3D software to construct the virtual environment to improve the reality of training. The aircraft design would contain the basic flight movement principle that is compiled into the virtual environment. The signals of the external flight operation group (flight stick, flight throttle, and flight rudder) were designed a high interactive function control program by Virtual Studio C #. Finally, a high-performance 9-axis motion tracking sensor (MPU9250) was installed on the center of the platform to obtain the angle and acceleration data of the motion platform. The gyroscope was filtered once by the sliding weighting method and was combined with the accelerometer to perform Kalman filter calculation. The filter could reduce the overall measurement error percentage by 90%. After comparing the measurement results and the motion simulation results, the motor output angle error of the platform was 5.5% at pitch motion, the motor output angle error of the platform was 5.5% at roll motion. The platform pitching motion trajectory angle average error is 0.4 ˚, and the platform rolling motion trajectory angle error is 0.29 ˚. According to compare results, the accuracy of the kinematic operation track could reach 90%. The vertical limit G-force of the platform motion performance is 0.34 G, the roll limit G-force is 0.73 G, and the pitch limit G-force is 0.51 G. And the rotation limit G-force reaches 0.5 G, which is enough to provide the user with enough somatosensory feedback force and increase the training reality. In this paper, the rotatable multi-axis motion platform was applied to the flight simulation training system. This system adds various terrains and environments to the virtual image. It was not only to strengthen the pilot's driving maturity and adaptability but also to avoid the danger of the real training environment. The three-degree-of-freedom sports platform provided the advantages of low cost and high load, making the system more popular in the various fields.

論文審定書 i
致謝 ii
摘要 iii
Abstract iv
目錄 vii
致謝 ii
摘要 iii
Abstract iv
圖目錄 x
表目錄 xiii
論文架構 xv
第一章 緒論 1
1.1 前言 1
1.2 研究背景 1
1.3 研究目的 3
第二章 文獻回顧與理論基礎 4
2.1 多軸運動平台 4
2.1.1 連桿機構原理 5
2.1.2 皮帶傳動機構原理 6
2.2 虛擬現實技術(Virtual reality, VR) 6
2.2.1 虛擬實境設備原理 8
2.2.2 眼球立體視覺成像 9
2.2.3 飛機飛行原理 10
2.2.4 航空重力(Gravitational force, G-force) 10
2.2.5 運動追蹤感應器 11
2.2.6 虛擬實境結合運動平台 11
第三章 研究方法與步驟 14
3.1 研究流程 14
3.2 多軸運動平台 16
3.2.1 多軸運動平台規格 16
3.2.2 多軸運動平台自由度 17
3.2.3 多軸運動平台運動坐標系 18
3.2.4 多軸運動平台運動軌跡分析 20
3.2.5 多軸運動平台運動學 23
3.2.6 多軸運動平台機構設計 26
3.2.7 多軸運動平台機構應力分析 28
3.3 虛擬實境飛行模擬系統 29
3.3.1 虛擬實境實驗設備 29
3.3.2 虛擬實境設計軟體 31
3.3.3 虛擬影像設計方法流程 32
3.3.4 地形建立 33
3.3.5 環境規劃 34
3.3.6 模型設計 36
3.3.7 互動設置 37
3.4 系統控制架構 39
3.5 系統監測與調整 40
3.5.1 九軸運動感測器濾波校正 41
第四章 結果與討論 44
4.1 多軸運動平台 44
4.1.1 多軸運動平台曲柄連桿機構 44
4.1.2 多軸運動平台中央機構 45
4.1.3 運動軌跡結果分析與實際驗證 46
4.1.4 多軸運動平台機構應力分析 51
4.2 虛擬實境場景建立 53
4.2.1 虛擬實境飛行地形場景 53
4.2.2 虛擬實境飛機模型與物理系統 53
4.2.3 虛擬實境飛機結合頭盔顯示器 54
4.2.4 虛擬實境飛機模擬系統結合多軸運動平台 55
4.2.5 多軸運動平台軌跡驗證 60
4.2.6 多軸運動平台運動性能測試 67
4.2.7 系統即時監控智慧軟體 68
第五章 結論與未來展望 70
5.1 結論 70
5.2 未來展望 71
參考文獻 72

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