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研究生：	謝旼儒 Hsieh, Min-Ju
論文名稱：	無人飛行載具於大氣環境中穩定性之硬體迴路模擬平台建構 The Establishment of a Hardware-in-the-Loop Simulation Platform with atmospheric Conditions for Unmanned Aerial Vehicle Stability Analysis
指導教授：	蕭飛賓 Hsiao, Fei-Bin
學位類別：	碩士 Master
系所名稱：	工學院 - 航空太空工程學系 Department of Aeronautics & Astronautics
論文出版年：	2004
畢業學年度：	92
語文別：	英文
論文頁數：	69
中文關鍵詞：	穩定性、大氣環境模型、安定時間、硬體迴路模擬測試平台、無人飛行載具、陣風干擾
外文關鍵詞：	stability, settling time, gust disturbance, UAV, hardware-in-the-loop simulation, simulation platform
相關次數：	點閱：141 下載：4
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　　近年來，無人飛行載具應用範圍越來越廣泛，無論在軍事上或商業上，許多具有高度危險性的任務已經逐步由無人飛行載具取代人類來執行。在設計無人飛行載具的過程中，有許多問題需要一一被克服。尤其在飛行測試階段，控制律的準確性、大氣環境、或是電磁干擾都可能成為飛行任務失敗的原因。因此，試飛前的模擬工作扮演著重要的角色。本論文目的在發展一個硬體迴路模擬測試平台。此平台能模擬在各種陣風干擾下無人飛行載具的飛行動態行為，並且提供具有參考價值的模擬結果作為增加無人飛機載具穩定性的參考依據。利用硬體迴路模擬方法規劃此模擬平台的基本功能與架構。利用解耦合及小擾動原理推導在模擬平台中的飛機模型與大氣環境模型，並且透過實際飛行測試數據驗證飛機模型的準確性。比對結果顯示模擬平台中的飛機模型動態響應趨勢與實際飛機動作行為相符合。除此之外，此模擬平台也針對不同型態的陣風干擾對飛機飛行穩定性的影響進行模擬。在高度控制與航向控制模擬實驗中顯示無人飛行載具整體飛行動態響應在陣風干擾下會造成嚴重的震盪情形，其安定時間也會受到陣風干擾而有延遲現象。

　　In recent years, the applications of Unmanned Aerial Vehicle (UAV) have grown drastically around the world. The dangerous tasks in military or business are executed by UAV instead of human beings days by days. In the designing processes of UAV, many problems need to be overcome. Especially, in the flight testing process, the accuracy of control algorithms, atmospheric conditions, or electromagnetic interference (EMI) may lead to UAV crash. Therefore, the pre-flight simulation demonstration plays an important role in UAV design and its flight testing. This thesis hence emphasizes on building a simulation platform which has the capabilities of simulating the responses of a UAV under several kinds of gust disturbances and providing the valuable simulation results to increase the flight stability of a UAV. The architecture and basic functions of the platform is planned by using the hardware-in-the-loop (HIL) simulation method. The aircraft model with atmospheric conditions in the HIL simulation platform is derived by linear decoupling and small-disturbances theory. The accuracy of the aircraft model in the HIL simulation platform has been validated by comparing the simulation data with the actual flight data. The results clearly indicate that the dynamic responses of the simulation model are fairing corresponding to the behaviors of the actual aircraft. The effects of wind gust disturbances, head wind, tail wind, vertical wind, and cross wind, on UAV flight stability are also simulated in the HIL simulation platform. The simulation results show that the overall responses of the UAV are oscillated because of the wind gust disturbances, which makes the settling time in altitude control and heading control longer. It means that the wind gust disturbances influence greatly the flight stability of UAV.

中文摘要	                                                                   II
Abstract	                                                              III
Acknowledgements	                                                       IV
Contents	                                                                V
List of Tables	                                                             VIII
List of Figures	                                                               IX
Chapter 1  Introduction	                                                        1
   1.1	The Concepts of Hardware-in-the-loop Simulation	                        2
   1.2	Motivation and Objectives	                                        3
   1.3	Literature Survey	                                                4
Chapter 2  The Simulation Platform Architecture in RMRL Lab of NCKU	        9 
   2.1	Non Real-time Simulation Environment	                                9
   2.2	Real-time Simulation Environment	                               10 
   2.3	Graphic User Interface Development	                               11
   2.4	Combination with a 6DOF Dynamic Platform	                       11
Chapter 3  Aircraft and Atmosphere Modeling	                               13
   3.1	The Aircraft Equations of Motion Derivation	                       13
      3.1.1 	Derivation of Rigid Body Equations of Motion	               13
      3.1.2 	Transformation from Inertial Frame to Body Frame	       18
      3.1.3	Small-disturbance Theory	                               20
      3.1.4	State Variable Representation of the Equations of Motion       23 
   3.2	The Atmospheric Condition Models Derivation	                       26
      3.2.1 	The Equations of Motion with atmosphere in State-space Form    26
      3.2.2	Orientation of the wind on the airplane	                       30
   3.3	The Experimental UAV in the HIL simulation test bed	               31
Chapter 4  Results and Discussion	                                       35
   4.1	Aircraft Model Validation	                                       35
      4.1.1 	Longitudinal Model Validation	                               35
         4.1.1.1	Pitch Angle Control	                               35
         4.1.1.2	Altitude Control	                               38
      4.1.2	Lateral Model Validation	                               41
         4.1.2.1	Bank Angle Control	                               41
         4.1.2.2	Heading Control	                                       44
   4.2	The Effects of Wind Disturbances on Aircraft Responses	               46
      4.2.1 	The Effects of Head Wind on Aircraft Responses	               47
      4.2.2 	The Effects of Tail Wind on Aircraft Responses	               51
      4.2.3 	The Effects of Vertical Wind on Aircraft Responses	       54
      4.2.4	The Effects of Cross Wind on Aircraft Responses	               59
Chapter 5  Conclusion	                                                       64
   5.1	Concluding Remarks	                                               64
   5.2	Future Work	                                                       65
References	                                                               67
VITA	                                                                       69

                                    

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校外：2004-07-13公開

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