無人飛行載具（UAV）已有相當的發展經驗，並且在軍事、科學研究及商業等各領域仍有潛在的發展價值。本論文的目標在於發展一個具有自動駕駛功能，且能達到姿態穩定的UAV。此UAV以DSP（Digital Signal Processor，數位信號處理器）及FPGA(Field Programmable Gate Array，場效可程式邏輯閘陣列)為飛行控制器，GPS（Global Position System，全球定位系統）為導引，JFET為姿態感測器。首先由UAV的系統動態方程式，設計出數位控制器，再以C語言程式發展並實現控制器於德州儀器公司的DSP板－C5402 DSK上。DSP接收GPS的定位訊號，得知UAV目前的位置，並計算到目標點的位置與方向差異。JFET姿態感測器量測UAV的飛行姿態，並輸入姿態角訊號至DSP。DSP將輸入訊號經控制律程式運算後，由RS-232介面輸出控制命令至FPGA。FPGA擷取DSP輸出的控制命令，根據此一命令判斷並輸出脈衝寬度調變（PWM）訊號給伺服馬達，由伺服馬達去改變UAV控制翼面的角度，控制UAV的飛行姿態，導引並修正UAV的飛行軌跡，使UAV穩定的沿著設定的目標路徑飛行。經過實際地面及飛行測試後，發現控制器的設計合乎邏輯，但在效能上則需要進一步的測試與加強。

There were many experiences of developing an UAV (Unmanned Aerial Vehicle), and UAVs still have their potential to be applied in many domains, such as military, scientific research, or commercial applications. This thesis to develop an UAV that has an autopilot system and its attitude can be auto-stabilized. The flight controllers of the UAV comprise DSP (Digital Signal Processor) and FPGA (Filed Programmable Gate Array). UAV is guided by GPS (Global Position System), and its attitude sensor is JFET. First, a digital controller is designed from the dynamic equations of the UAV. Next, this controller is realized on the DSP board-TI C5402 DSK. DSP gets present position information of the UAV by GPS receiver, and calculates the distance and flight-path angle toward target position. The JFET attitude sensor determines the UAV attitude and sends attitude signal to DSP. DSP outputs control command signal through RS-232 interface to FPGA by performing the control law in the DSP program. FPGA receives the control command signal and generates the output of PWM (Pulse Width Modulation) signals, witch change servomotor angle and control UAV aileron and elevator. These control surfaces change UAV attitude and let UAV be guided and flying stably through the setting flying routes. The ground and flight tests show the logical design of controllers, but the performance of this design could be improved.

[1] 蘇宗志, “遙控直昇機飛行控制測試系統之建立”, 國立成功大學航空太空工程研究所碩士論文, 1996.
[2] 洪啟超, “遙控直昇機增穩系統設計與製作”, 國立成功大學航空太空工程研究所碩士論文, 1996.
[3] 于武強, “無人飛行載具導控迴路之硬體設計”, 國立成功大學航空太空工程研究所碩士論文, 1999.
[4] 郭承忠, “無人飛行載具導控系統之設計與測試”, 國立成功大學航空太空工程研究所碩士論文, 2000.
[5] 林哲生, “利用FPGA晶片實現無人飛行載具姿態控制系統”, 國立成功大學航空太空工程研究所碩士論文, 2001.
[6] 施宗榮, “GPS於模型車自動導控系統之設計與應用”, 國立中央大學電機工程研究所碩士論文, 1998.
[7] 施銘鏞, “DSP主控之模型車自動導控系統”, 國立中央大學電機工程研究所碩士論文, 1999.
[8] Wong, K. C., Newman, D. M., Gibbens, P. W., Auld, D. J., Wishart, S., Stone, H., Randle, J. A. G., Choong, K. S., Boyle, D. P., and Blythe, P.W., “Maturing UAV Capabilities Stepping from Technology Demonstrators to Mission-Specific Systems,” University of Sydney, Australia, 1999.
[9] Dennis S. Bernstein, “An Autonomous Aircraft for Flight Control and Trajectory Planning Research,” American Control Conference, Philadelphia, Pennsylvania, June, 1998, pp. 689-693.
[10] Tad, McGeer, and Juris, Vagners, Historic Crossing An Unmanned Aircraft’s Atlantic Flight, GPS World, Feb 1999, pp. 24-30.
[11] 謝勝己, 許棟龍,等, “無人飛行載具之研製第三期期末報告書”, 國防工業發展基金會委託學術機構研究計劃, 2000, pp. 3-20.
[12] TFAG 10/100/200 USER MANUAL, 台灣飛鷹航太, 2001.
[13] 林傳生, 李佩謙, “數位訊號處理器（DSP）簡介與應用, 全華書局, 1996.
[14] Charles, L. Phillips, and H. Troy, Nagle, Jr., Digital Control System analysis and Design, 1st ed., Prentic-Hall, 1984, pp. 257
[15] Rolf, Isermann, Digital Control Systems, 2nd ed., Vol. 1, Springer Verlag, 1989, pp. 116-121.
[16] Robert, C. Nelson, Flight Stability and Automatic Control, 1st ed., McGRAW -HILL, 1989, pp. 20, 89, 112-175.
[17] 長高科技股份有限公司, “DSP 320C542 C語言實作”, 匯高出版社, 2001.
[18] 孫宗瀛, 謝鴻琳, “TMS320C5x DSP原理設計與應用, 全華書局, 1999.
[19] 張勝凱, 賴鴻志, 胡竹生, “TMS320C54xx DSP晶片原理與應用”, 全華書局,2001.
[20] TMS320C5x User’s Guide, Texas Instruments, 1998.
[21] TMS320C54x DSP Reference Set Volume 1：CPU and Peripherals, Texas Instruments, 2001.
[22] TL16C550C, TL16C550CI, Asynchronous Communication Element With Auto Flow Control, Texas Instruments, 2001.
[23] TMS320C2x/C2xx/C5x Optimizing C Compiler User’s Guide, Texas Instruments, 1999.
[24] Code Composer Studio User’s Guide, Texas Instruments, 1999.
[25] 唐佩忠, “VHDL與數位邏輯設計”, 1st ed., 高立, 1999, pp. 1-8~10, 9-1~30.
[26] 鍾明政, 吳金勇, “XILINX FPGA數位邏輯設計”, 3rd ed., 長高, 2000, pp. 1-1~20, 5-1~84.
[27] 林傳生, “使用VHDL電路設計語言之數位電路設計”, 2nd ed., 儒林, 2000, pp. 11-1~32, 2-2~14.