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研究生：	張簡佳倫 Chang-Chien, Chia-Lun
論文名稱：	利用無人載具進行空投應用之研究 A Study of Airdrop Application on Unmanned Aerial Vehicle
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：	2013
畢業學年度：	101
語文別：	英文
論文頁數：	77
中文關鍵詞：	無人飛機、拋投物前進軌跡距離、空投應用
外文關鍵詞：	Forward Track Distance, Airdrop, Unmanned Aerial Vehicle(UAV)
相關次數：	點閱：129 下載：12
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飛行載具執行空投一直是一項重要的任務與應用，例如在一般民間使用、軍事應用或者是人道救援行動等等。在近幾年的發展也開始利用無人飛行載具來進行空投任務的實驗與任務。其中自由落體空投 (free fall airdrop)為一種不使用任何減速裝置(對於水平方向與垂直地面方向)與速度控制系統來控制空投物速度的方式，本論文使用自由落體空投的方式來進行空投任務的實驗。在進行空投實驗之前，本論文主要的目標有：建立一個無人飛機系統－黑面琵鷺號無人飛機 (SP-100)以及設計空投用的空投機構裝置，方便掛載空投物體，並設計一個空投控制器寫進無人飛機的機載電腦，綜合以上系統來完成空投任務。而控制器搭配GPS資料的定位找出無人飛行載具與目標點的距離，進一步計算拋投物前進距離(forward track distance)以及自由落體運動公式。以上皆為本論文空投控制器的核心公式，最後分析實驗結果，並探討無人飛行載具進行空投任務的可行性。

The dropping of payload from an air vehicle is an important mission to civil applications in rescue, disaster mitigation, and any emergency situations, besides military utilizaion. It is also becoming important application in Unmanned Aerial Vehicles (UAV) in recent years. The methods of dropping air payload commonly include free fall, aerial supply, heavy drop, and extreme low level delivery. The free fall airdrop is a subsystem that does not require or use a descent-control device or retardation technique to reduce the effect of gravity on the rate of descent, and hence, the free fall airdrop is the type used in this study. This thesis will then be aimed at building an air vehicle named Spoonbill (SP-100) with an onboard automatic airdrop system, including the development of the UAV and its airdrop mechanism of a box. This thesis starts to design an automatic airdrop system to be able to deliver the payload balls targeting at an assigned ground position by onboard attitude sensors and global position system (GPS) for position determination and timing releasing. The mechanical ball-releasing mechanism is also designed in connection with the control comments by the onboard computer. This thesis also built a simulation environment for test the airdrop mission. Finally, collecting the airdrop’s data to verify the function of airdrop controller and discussing the feasibility of airdrop on UAV with a very satisfactory results.

中文摘要 .................................................I
ABSTRACT ...............................................III
ACKNOWLEDGEMENTS.........................................V 
EXTENDED CHINESE ABSTRACT................................VI
CONTENTS................................................XII
LIST OF TABLES..........................................XIV
LIST OF FIGURES	........................................XV
NOMENCLATURE...........................................XVIII
CHAPTER  I  INTRODUCTION...................................1
1.1 Introduction to Unmanned Aerial Vehicle................1
1.2 Motivations and Objectives.............................5
1.3 Literature Reviews.....................................9
CHAPTER II  SPOONBILL-100 UAV SYSTEM......................12
2.1 Air Vehicles..........................................12
2.1.1 Design of Spoonbill-100 UAV.........................13
2.1.2 Power and Servos....................................15
2.2 Onboard Avionics System...............................17
2.2.1 Onboard Computer....................................19
2.2.2 Sensors System......................................21
2.2.3 Ground Control Station..............................29
2.3 Hardware-in-the-loop Simulation Environment...........32
CHAPTER III  AIRDROP AND EXPERIMENT MATERIALS.............33
3.1 Free Fall Type of Airdrop.............................34
3.1.1 Coordinate System...................................35
3.1.2 The Free Fall Motion of Airdrop.....................39
3.1.3 The Architecture and Design of Airdrop System.......45
3.2 Hardware of Airdrop System............................47
3.2.1 Airdrop Box and Payloads............................47
3.2.2 Differential GPS Setting and Hardware...............48
CHAPTER IV  AIRDROP RESULT................................55
4.1  Simulation Result....................................56
4.2  Experimental Result..................................57
4.2.1  The 1st Experimental result........................57
4.2.2  The 2nd Experimental result........................66
CHAPTER V  CONCLUSIONS....................................73
5.1  Summary of Contributions.............................73
5.2  Future Works.........................................75
REFERENCES................................................76
                                    

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