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研究生： 陳永恩
Ong, Ting Wen
論文名稱： 最佳化能量控制系統應用於無人飛機之硬體迴路模擬
Implementation of Optimal Energy Control System for Unmanned Aerial Vehicle in Hardware-in-Loop Simulation
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： 2011
畢業學年度： 99
語文別： 英文
論文頁數： 102
中文關鍵詞： 無人飛機 、能量控制 、系統識別 、綫性二次高斯
外文關鍵詞： Unmanned Aerial Vehicle, Energy control system, System identification, Linear Quadratic Gaussian (LQG)
相關次數： 點閱：100  下載：11 
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    • 傳統的飛機自動控制系統包括自動駕駛、自動油門和自動導航系統。這些系統通常都是逐步獨立的建立起來，因而造成飛機自動控制系統過於複雜，系統功能整合相對效率也較低。因此有人提出飛機能量的概念，類似真實飛行員控制飛機的策略，用來解決飛機升降舵和油門協調的問題。本論文主要目的是運用能量的概念，建立一個飛機縱向控制系統，運用於無人飛機。無人飛機的能量可透過兩個參數來描繪，分別為能量分佈率比(L_s)和縂能量率比(E_s)。能量分佈率比受控於升降舵；縂能量率比受控於油門。無人飛機的能量模型是透過MATLAB裏内建的系統識別功能所得。最佳化能量控制系統包括能量分佈迴路和總能量迴路，能量分佈迴路是個綫性二次高斯調節器，負責把(L_s)調控至趨近於零；總能量迴路則是透過簡單的增益調整方法把(E_s)的誤差量調控至趨近於零。最後，最佳化能量控制系統成功應用於無人飛機硬體迴路模擬。

    Conventional automatic longitudinal flight control system in civil aircraft consists of autopilot and autothrottle and flight guidance system. Often, those systems are combined in a piecemeal fashion, resulting an overly complex system and inefficient functions integration. Thus, the concept of aircraft energy was brought up to solve the coordinated control of elevator and throttle problem, resulting with a pilot-like control strategy. The objective of this thesis is to develop the longitudinal flight control system, based on the concept of energy, for unmanned aerial vehicle (UAV). The energy of UAV was characterized by two parameters, which are specific energy distribution rate, (L_s), driven by elevator and total specific energy rate, (E_s), driven by throttle. The energy models of the UAV are found by using the system identification method where the methods are readily available in the MATLAB System Identification Toolbox. Optimal Energy Control System (OECS) consists of energy distribution loop and total energy loop. Energy distribution loop is designed based on Linear Quadratic Gaussian (LQG) regulator and responsible to regulate (L_s) to zero. On the other hand, total energy loop, based on simple gain scheduling method, is responsible to drive (E_s) error to zero. The implementation of OECS was successfully validated in Spoonbill UAV hard-in-loop system simulation.

    中文摘要 I ABSTRACT II ACKNOWLEDGEMENTS III CONTENTS V LIST OF TABLES VII LIST OF FIGURES VIII NOMENCLATURE X CHAPTER I: INTRODUCTION 1 1.1 Introduction to Unmanned Aerial Vehicle (UAV) 2 1.2 Motivations and Objectives 3 1.3 Literature Reviews 5 1.4 Layout of Thesis 8 CHAPTER II: MATHEMATICAL MODEL OF AN AIRCRAFT 9 2.1 Reference Frames 10 2.2 Sign Conventions 11 2.3 Aircraft Equations of Motion 12 2.4 Linearization of Aircraft Longitudinal Equations of Motion 18 2.5 Aircraft Energy Equation 20 2.6 Energy Distribution State-space Model 23 2.7 Total Energy Model 26 CHAPTER III: SPOONBILL UAV SYSTEM 28 3.1 Spoonbill UAV 29 3.2 Onboard Avionics System 31 3.3 Spoonbill Hardware-in-Loop System 32 CHAPTER IV: SYSTEM IDENTIFICATION 35 4.1 Aircraft System Identification 36 4.2 Input Design 37 4.3 Data Compatibility Analysis 44 4.4 MATLAB System Identification Toolbox 45 4.4.1 Prediction Error Methods (PEMs) 46 4.4.2 Steps for Using MATLAB System Identification Toolbox GUI 47 4.5 Identified Aircraft Models 50 4.5.1 Aircraft Models Evaluation Methods 50 4.5.2 Energy Distribution State-space Model 51 4.5.3 Total Energy Model 55 4.6 Model Validation 58 CHAPTER V: SYNTHESIS OF OPTIMAL ENERGY CONTROL SYSTEM 63 5.1 Concept of Aircraft Energy 64 5.2 Linear Quadratic Gaussian (LQG) Regulator 65 5.3 Design and Implementation of OECS 69 5.3.1 An Overview 69 5.3.2 Energy Distribution Loop 70 5.3.3 Total Energy Loop 76 5.4 Hardware-in-the-Loop (HIL) Simulation Results 77 5.4.1 LQG Regulator in HIL Simulation 77 5.4.2 OECS in HIL Simulation 78 CHAPTER VI: CONCLUDING REMARKS 89 6.1 Concluding Remarks 90 6.2 Summary of Contributions 91 6.3 Future Works 92 REFERENCES 93 APPENDIX 96 A. Identified Energy Distribution Models 96 B. Data for Total Energy Model Identification 99 VITA 102

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