本論文主旨在於應用非線性動力反算方法(Nonlinear Dynamic Inversion, NDI)，針對無人戰鬥飛機(Unmanned Combat Aerial Vehicle, UCAV)設計一飛行控制系統，滿足其飛行控制需求。為適用於不同飛行操作，研究中係直接以非線性運動方程式設計控制系統，而非先將動態特性予以線性化。另，六自由度運動方程式共有12個狀態變數，如何以四個控制變數使其飛行於所需之飛行狀態，一般NDI方法並非可以立即使用之以設計飛行控制系統，為克服此困難，其方法為將控制系統分為數個次系統階層。本論文將以一UCAV之控制系統設計為例，說明上述之NDI控制系統設計方法及其有效性。

The objective of this thesis is to develop a nonlinear dynamic inversion (NDI) method for designing the flight control system of a UCAV. To adapt to large motions, in this study, the control design is based on the original nonlinear equations of motion without linearization, as in conventional control design method. By using the NDI method, the changing rates of state variables are assigned according to some desired models of responses. Since there are 12 state variables in the six degree-of-freedom equations of motion but there are only 4 control variables, how to use the 4 controls to make the flight satisfy the desired conditions poses an important issue which is not so readily obvious by using the conventional NDI method presented in many existing literatures. Such problems are solved in this thesis by dividing the equations of motion into several “layers” of subsystems with different “hierarchies.” To validate the proposed NDI method, in this paper, the control system designed for an unmanned combat aerial vehicle (UCAV) is presented as a numerical example.

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