由於四軸飛行器具有構造簡單、機動性高、操作容易等特點，常被拿來做為各種開發或應用，例如物流配送和軍事用途。因此，四軸飛行器在近年來已經被大量的作為理論及實務的研究議題。在本論文中，設計了新的無人機具，其核心硬體架構是將兩輪車體與四軸飛行器結合，可稱為四軸摩托車。在實際應用上，用於地形查勘時，不同於持續在空中飛行的四軸飛行器，四軸摩托車也能夠行走在地面上，使得移動方式有著更多的可能性，也可以節省電能消耗。
本文是以提升四軸摩托車穩定度為主要研究目標，先在MATLAB上建立一四軸摩托車的模擬平台，透過其內建的Simulink來模擬飛行姿態與動態方程式。以所得到的動態行為，並在此模擬平台上設計PD回授控制器，作為四軸摩托車穩定飛行之軟體模擬。經模擬驗證後，以實體化方式將四軸飛行器的控制核心建立於嵌入式系統QCopterFC飛控板上。並且實現互補式濾波器來改善感測器的誤差與雜訊，進而提升該穩定性。
飛控板的核心為ARM Cortex-M4架構的微處理器-STM32F405，在ARM架構下所需的作業系統，在本論文中移植其相容的FreeRTOS即時作業系統。透過排程器的選擇機制決定下一個執行工作，實現分時多工的功能。據此，四軸摩托車可擁有多個執行緒來執行不同任務，亦有利於此作業系統的其他應用。此外，本論文在Linux平台上也用Python語言設計一個地面站，實現圖形化使用者介面，提供使用者觀察四軸摩托車的姿態變化與參數調整。

Since the quadrotors are characterized with simple structure, high mobility, and easy operation, it is commonly used in many development and application cases, including transportation logistics and military demands. The researches of the quadrotor have been extensively studied in recent years. In the thesis, design of the new unmanned vehicle combined a two-wheel vehicle with quadrotor is named quadrotor-motorcycle. In the practical application of topography exploration, it differs from general quadrotors that need to be sustained in the sky, the quadrotor-motorcycle can move on the ground, so that the moving method has more choices. In addition, it can make up the shortcoming of short endurance.
This thesis aims to enhance the stability of quadrotor-motorcycle. With built-in Simulink of MATLAB, a simulation platform for building a model of the vehicle has been established. Based on the vehicle dynamic characteristics, the PD controller that supports control system is designed in the simulation platform. After simulation and verification, the flight control system can be implemented into an embedded system of QCopterFC flight control board. And, the complementary filter is adopted in order to reduce noise of sensors, making quadrotor-motorcycle’s flight attitude even more stable.
In this thesis, the processor of flight control board is ARM Cortex-M4 architecture. The compatible Real Time Operating System (RTOS), called FreeRTOS, is then transplanted into an embedded system for implementation of the time-sharing multiplex functionality. Accordingly, by executing different threads, the quadrotor-motorcycle can process more tasks with applications. Besides, the Graphical User Interface (GUI) software of ground station has been implemented by Python based on Linux platform, so that Users can observe the real time data of flight attitude and adjust parameters on the GUI software.

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