本研究之重點在設計製作桌上型飛行模擬儀並整合飛行軌跡動畫，同時呈現飛行模擬器所模擬的無人飛行載具(UAV)之飛行姿態，讓使用者能更清楚的了解飛行載具在飛行中之動態。模擬儀是由三個小型的步進馬達所帶動，所以架構材質以重量較輕為考量，故以光硬化樹脂堆疊而成模擬儀之三軸架構，來模擬飛機三軸姿態運動。帶動模擬儀之訊號是由飛控導引主電腦計算出飛行數據後，由串列埠傳出訊息給單晶片介面，再由單晶片來產生PWM訊號並控制步進馬達。除了飛行模擬儀的設計外，本研究亦設計一互動式的視窗飛控程式，由使用者輸入飛行任務之條件，如目標位置與盤旋或路徑點之模式，該輸入傳入飛控導引主程式，經模擬計算使無人飛行載具達成自主的飛行能力。作為未來真實UAV之監控所用，本研究建立一硬體動態模擬迴路，利用航電硬體數據截取平台，擷取GPS定位與精密電子羅盤的姿態量測來修正飛行控制器及飛行路徑。導引律之設計是利用UAV與目標間之相對位置與飛行速度，轉換成UAV所需要的飛行控制命令。飛行控制方面則是應用回授線性化及滑動模式(Sliding mode) ，設計一具有強健性的非線性控制器，最後將導引及飛行控制迴路加以整合而成自主性飛行導控系統。

The main objective of this study is to design and integrate a desktop motion simulator with a computer animation program simultaneously displaying the flight of an unmanned aerial vehicle (UAV) on a flight simulation platform, allowing the user to have a better understanding of the aircraft flight behavior. The motion simulator animating the three-dimensional attitude motion of a simulated aircraft is made from photopolymer resins and is controlled by three miniature step-motors for lightweight consideration. Driving flight signals for the simulator are sent through serial port from the platform to a single chip processor, which processes the data and controls the step-motor drivers with pulse-width-modulation (PWM) frequencies. Besides the simulator, an interactive input window table is designed in this study for the user to specify flight conditions in a flight mission, such as waypoints and circling, which are then transformed by the platform into guidance command that directs the flight controller to maneuver the UAV. To prepare for monitoring a real flight of an UAV, a GPS and a high precision attitude compass for flight path correction and flight control are connected to the platform to perform hardware-in-the-loop simulation. The guidance law transforms the relative position between the UAV and the specified location into the flight control command. The robust nonlinear flight controller formulated from feedback linearization and sliding mode control method receives the flight control command and directs the UAV to reach the specified location or perform required maneuver.

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