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研究生： 楊元坤
Yang, Yuan-Kuan
論文名稱： 無人飛行船自主性控制設計與實現
Design and Realization of Autonomous Control for an Unmanned Airship
指導教授： 謝成
Hsie, Chen
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： 2002
畢業學年度： 90
語文別： 中文
論文頁數： 73
中文關鍵詞： 飛行船 、無人載具 、自主性控制
外文關鍵詞： airship, UAV, autonomous control
相關次數： 點閱：61  下載：4 
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    • 本研究係研發一無人飛行船系統，並在傳統的 RC 控制外設計一電腦飛行控制系統以大幅增加其穩定性與操控性。

    無人飛行船之硬體架構可分載具與地面控制站兩部分。載具部分主要包含一以氦氣填充的氣囊，一套具有向量推力的動力系統以及一套電腦飛控系統。此一飛控系統配合其他次系統即可達到控制飛船的目的。地面控制站則是經由飛行控制搖桿與人機介面對飛船進行控制與監視。整個控制架構都是PC-Based系統，皆可以軟體的方式修改，因此在運用上有很大的彈性。

    在控制器設計上我們先以動力學的觀點分析飛船動態並建立數學模型，然後以此數學模型設計高度輔助控制器律與點對點控制律。除了數值驗證外並由分析實際飛行時之數據，調整控制器增益以提升整體的控制性能。

    In this research, we develop an unmanned airship system. In addition to the traditional Remote Control system, a PC-based flight control system was developed to improve flight stability and maneuverability.

    The system includes two parts: the vehicle and the ground control console. The vehicle consists of an envelope, a gondola, a pair of elevator and rudder, a thrust-vector system and a flight control unit. The ground control console consists of a control joystick and a notebook, which is used to input control command and to monitor the airship. Both of them are PC-based, and we can easily change their behavior by modifying the software. The technology developed in this research can be applied to other unmanned systems.

    During designing control laws, we analyze the flight dynamics of the airship first then establish governing equation. The system parameters are obtained partly by direct measurement of the airship and partly by compare other similar airships. An auxiliary height and point-to-point control law is designed based on this model. To simplify the design process, we decouple the system and design respective controllers to stabilize vehicle motion and pitch motion separately. Finally, we can improve entire control performance by analyzing numerical data from experiments and adjusting relative control gains.

    中文摘要.................................................................................................................... 3 英文摘要 ..................................................................................................................... 4 致謝 …......................................................................................................................... 5 目錄 …......................................................................................................................... 6 圖目錄 ......................................................................................................................... 8 表目錄 ....................................................................................................................... 10 第一章 緒論 1-1 關於無人飛行載具 ( Unmanned Aerial Vehicle, UAV ) ............................. 11 1-2 無人載具之優點..…...................................................................................... 11 1-3 研究動機與目的 ..….................................................................................... 12 1-4 飛行船基本架構介紹 ..….......................................................................... 12 1-5 飛行船自主性控制介紹 ( Autonomous Control ) ....................................... 13 1-6 章節安排 ...................................................................................................... 14 第二章 飛行船系統架構介紹 2-1 載具規格 ..................................................................................................... 16 2-2 船體及機械系統 ......................................................................................... 17 2-3 電腦控制系統 ............................................................................................. 19 2-4 電力系統 ..................................................................................................... 26 2-5 軟體監控程式............................................................................................... 26 第三章 飛行船姿態動力學 3-1 座標系與符號定義 ..................................................................................... 29 3-2 統御方程式之推導 ..................................................................................... 31 3-3 線性化開迴路動態方程式之推導 ............................................................. 38 第四章 飛行船控制模式原理與控制律設計 4-1 控制模式原理 ............................................................................................... 44 4-2 高度輔助控制律設計 ................................................................................... 47 4-3 點對點控制律設計 ....................................................................................... 47 第五章 結論與未來研究方向 5-1 結論 ............................................................................................................. 71 5-2 未來研究方向 ............................................................................................. 71 參考文獻 .................................................................................................................. 72 自述 .......................................................................................................................... 73

    [1] Thomas R. Kane and Peter W. likins and David A. Levinson,
    “Spacecraft dynamics”, McGraw-Hill Book Company, 1983

    [2] J.L Meriam and L.G. Karige, “Engineering Mechanics Dynamics 4rd”, Wiley,
    1998.

    [3] 謝志杰，”無人飛船系統的發展與控制”，國立成功大學航空太空研究所碩士論文，2000.

    [4] 伍紹之，”無人飛行船系統之研發”，國立成功大學航空太空研究所碩士論文，2001.

    [5] 陳正雄，”地面站人機介面的建立與模糊邏輯在無人飛行船高度與俯仰角控制的應用無人飛行船系統之研發”，國立成功大學航空太空研究所碩士論文，2000.

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