本研究的目的是在本實驗室目前的無人飛機控制器基礎上，建立一個速度控制器，以改善無人飛機自動飛行時長週期運動所造成的影響，維持固定的速度和高度，增進飛行控制器的整體性能。
本論文進行一連串的實驗，以取得引擎在不同的速度和油門開口面積條件下，所產生的推力和轉速，並對實驗數據進行分析，配合引擎時間延遲的特性，建立引擎的非線性模型。另為了設計控制器，本論文採用系統參數鑑別的方法，分析出引擎的線性模型，並進一步針對線性模型設計PID控制器。
控制器的架構包含內迴圈和外迴圈，內迴圈透過油門開口對引擎的轉速進行回授控制。外迴圈為速度控制迴路，將飛機的期望速度轉換成所需的引擎轉速，輸入內迴圈進行轉速控制。
經過一連串的測試與驗證後，已證實本控制器可以有效的抑制飛機的長週期運動，達到增進飛行效率的目的。

The goal of this thesis is to design a velocity controller based on current autopilot architecture in RMRL to eliminate the effect of airplane phugoid motion during autonomous flight, and hold velocity and altitude to improve the autopilot control efficiency.
A series of experiments were made to obtain the thrust and rpm in different free-stream velocity and throttle conditions. The experiment data was analyzed to make a nonlinear model with the engine time delay. Besides, system parameters identification methods were performed to obtain the engine linear model to design the PID controller.
The control architecture is composed of inner loop control and outer loop control. The inner loop controls engine rpm via throttle. The outer loop is a velocity control loop, which converts the velocity information to a desired rpm, then feed the desired rpm into the inner loop to control the engine rpm.
After a series of flight test validation, this velocity controller is approved and can eliminate the phugoid motion of the airplane thus improve flight efficiency.

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