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研究生: 杜明皇
Do, Minh Hoang
論文名稱: 利用X-Plane模擬及實測飛行於多旋翼無人機的設計與驗證創新方法
A Novel Approach for Multi-Rotor UAV Design and Validation Using X-Plane and Real Flight
指導教授: 林清一
Lin, Chin E
賴盈誌
Lai, Ying Chih
學位類別: 博士
Doctor
系所名稱: 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年: 2024
畢業學年度: 112
語文別: 英文
論文頁數: 79
中文關鍵詞: 新的可持續無人機設計方法高傳真動態模式CIFER系統鑑別頻率響應
外文關鍵詞: New Sustainable UAV Design Method, High-Fidelity Dynamic Modeling, CIFER, System Identification, Frequency Response
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  • 摘要 ii ABSTRACT iii ACKNOWLEDGEMENTS iv TABLE OF CONTENTS v LIST OF TABLES vii LIST OF FIGURES viii LIST OF ABBREVIATIONS x CHAPTER 1 INTRODUCTION 1 1.1 Flight Vehicle Design Overview 1 1.2 Aircraft and Multi-rotor Design Challenges 6 1.2.1 Challenges in Designing a Conventional Fixed Wing Aircraft 6 1.2.2 Challenges in Designing Multi-rotor VTOL UAVs 8 1.3 The New Proposed Multi-rotor Design Method 9 1.4 Flight Simulator Selection 15 CHAPTER 2 Methodology 18 CHAPTER 3 Experiment Setup 22 3.1 Flight Controller Hardware Setup 22 3.2 CG position Experiment Setup 24 3.3 Actuator Dynamics Experiment Setup 24 3.4 Roll Rate Experiment Set Up 25 3.5 Yaw Rate Experiment Setup 28 3.6 Vertical Velocity Experiment Setup 29 CHAPTER 4 Experiment Results 30 4.1 DJI-450 Quadrotor Effects of CG Position 30 4.2 DJI-450 Quadrotor Actuator Dynamics 31 4.3 Roll Rate Dynamics Result 33 4.3.1 X-Plane Quad-rotor Roll Rate Dynamics 33 4.3.2 DJI-450 Quadrotor Roll Rate Dynamics 36 4.3.3 Roll Rate Dynamics Verification 39 4.4 Yaw Rate Dynamics Result 43 4.4.1 X-Plane Quadrotor Yaw Rate Dynamics 43 4.4.2 DJI-450 Quadrotor Yaw Rate Dynamics 46 4.4.3 Yaw Rate Dynamics Verification 49 4.5 Vertical Velocity Result 51 4.5.1 X-Plane Quadrotor Vertical Velocity Dynamics 51 4.5.2 DJI-450 Quadrotor Vertical Axis Dynamics 54 4.5.3 Vertical Velocity Axis Dynamics Verification 57 CHAPTER 5 Conclusions 60 REFERENCES 63 PUBLICATION LIST 67 AUTOBIOGRAPHY 68

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