簡易檢索 / 詳目顯示
| 研究生： |
鄭學懋 Cheng, Hsueh-Mao |
|---|---|
| 論文名稱： |
任務型無人飛行載具自主飛行與驗證 Autonomous Flight Verification for Mission Unmanned Aerial Vehicle |
| 指導教授： |
蕭樂群
Shiau, Le-Chung |
| 共同指導教授: |
林清一
Lin, Chin E. |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工學院 - 民航研究所 Institute of Civil Aviation |
| 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： | UAV 自動導航 、增益值 、模擬 、DATCOM |
| 外文關鍵詞： | UAV Autopilot, Gain Control, Flight Simulation, DATCOM |
| 相關次數： | 點閱：156 下載：3 |
| 分享至: |
| 查詢本校圖書館目錄 查詢臺灣博碩士論文知識加值系統 勘誤回報 |
本篇論文的主要目的是要建立一個任務型無人機自主飛行系統，其中整合GPS與無限傳輸模組於開放式自動駕駛飛控系統。為了建立一個能確保無人機自主飛行的穩定性和安全性，在此建立一套模擬系統，計算Ce-73無人機自主飛行穩定之初始增益，通過實驗調整路徑追蹤之增益值，並在真實環境中驗證它的性能。
The main object of this thesis is to build up a system for the mission unmanned aerial vehicle autonomous flight by integrating with GPS and modem into open source autopilot flight control. Considering of the stability and the safety requirement, a simulation system determines the initial gains of Ce-73 UAV for the flight stability. Test flights are carried out by adjusting control gains for tracking point. The autopilot performance is verified in the real environment.
[1] Y. H. Cheng, “Integrated Avionic System of Unmanned Aerial Vehicle”, MS Thesis, Department of Aerospace Engineering, Tamkang University, January 2009, pp. 8-12.
[2] T. A. M. Abdunabi, M. El-Gelani, N. M. Nasr, “Modeling and Autonomous Flight Simulation of a Small Unmanned Aerial Vehicle”, Aerospace sciences & aviation technology, Military Technical College, Kobry Elkobbah, Cairo, Egypt
[3] B. Drouin, G. Huard, “The PAPARAZZI Solution”, ENAC, Toulouse, France, MAV06, 2006.
[4] R. Prathapanayaka, N. Vinodkumar, S. J. Krishnamurthy, “Design, analysis, fabrication and testing of mini propeller for MAVs”, CSIR-National Aerospace Laboratories, Bangalore, India.
[5] H. J. Huang, “Application of Datcom Empirical Formulae, Figure and Table for the Lateral Analysis of a High- Payload and High lift UAV”, MS Thesis, Department of Aeronautics and Astronautics, National Cheng Kung University, July 2012, pp. 19-55.
[6] C. T. Tsai, “Application of DATCOM Empirical Formulae, Figure and Table for the Longitudinal Analysis of a High-Payload and High lift UAV”, MS Thesis, Department of Aeronautics and Astronautics, National Cheng Kung University, July 2012, pp. 19-60.
[7] Y. H. Chien, “The Realization of Autonomous Flight Control on UAV”, MS Thesis, Department of Aeronautics and Astronautics, National Cheng Kung University, June 2004.
[8] C. Y. Chen, “Path Planning of UAV Using Theta-Star Algorithm”, MS Thesis, Department of Aeronautics and Astronautics, National Cheng Kung University, July 2012.
[9] T. J. Cavicchi, “Phase margin revisited: phase-root locus, bode plots, and phase shifters”, IEEE paper, ISSN 0018-9359, 2003.
[10] L. H. Keel, “A Bode Plot Characterization of All Stabilizing Controllers”, IEEE paper, ISSN 0018-9286, 2010.
[11] Z. Chen, B. Yao, Q. F. Wang, “A Two-Loop Performance-Oriented Tip-Tracking Control of a Linear-Motor-Driven Flexible Beam System With Experiments”, IEEE paper, ISSN 0278-0046, 2012.
[12] L. C. Jones, “The application of the MATLAB/SIMULINK analysis packages to the design of a discrete linear quadratic optimal missile autopilot”, IEEE paper, 1995.
[13] Excerpt from Intelligent Surveillance with MAVs R&D 1042-AM-01, PAPARAZZI User's Manual, available from web: http://PAPARAZZI.enac.fr/w/images/Users_manual.pdf
[14] C. E. Lin, Y. H. Lai, Y. C. Huang, C. C. Li, C. C. Nien, “System Design Approach for Experimental UAV”, Journal of Aeronautics, Astronautics and Aviation, Series A, Vol. 45 No. 1, March 2013, pp. 25-36.
[15] C. E. Lin, Y. H. Lai, Y. C. Huang, C. C. Li, C. J. Sun, C. W. Tu, C. C. Nien, C. C. Cheng, M. Y. Shih, “High Payload Low Speed UAV System for Disaster Surveillance Applications”, 25th UAV System Conference, Bristol, UK, April 12-15, 2010.
校內：2015-08-16公開校外：2018-08-16公開