本研究係發展一架能在升降高度、橫向側滑和偏航時，但仍保持原飛行姿態的無人定翼機。操作員在地面利用搖桿輸入及更改定翼機的高度、側滑速度和飛機的轉向速度，機載電腦即自動控制引擎轉速與各控制面，使此一控制面按照操控者的意思運動。為了安全理由，本飛行器亦可由一般RC方式操控，只是在此模式下，無法達成上述特殊的飛行狀態。外形採用結合翼設計，當需提升高度時，前、後翼皆可產生升力，並可將力矩相互平衡，側滑和偏航分別由側向舵和方向舵控制。機載控制單元為一單板電腦，高度計、GPS、電子式羅盤及rate gyro，將運動狀態即時量測，傳送給機載電腦，以做上述控制。同時機載電腦藉由wireless modem和地面站連結，將飛機姿態、高度、速度、位置等資訊下傳至地面站，並接收地面站的控制指令。為了設計控制律，我們利用動力學和飛行力學公式配合經驗公式和風洞實驗數據建立數學模式，並由離散方式設計控制律，最後再做整體性的穩定性分析與電腦模擬測試。

We try to develop an unmanned control configured vehicle which could lift or lower in the altitude and also could side slip or yaw but not change in plane’s attitude. The design of the joined wing which can be increased in lift and also be balanced in the other forces and moment can satisfy our needs. Our flight control unit is an onboard computer and connects the sensors including the altitude sensor, GPS, electronic compass, rate gyro. The flight control unit can transfer the information about the plane and receive the control command through the wireless modems. We set up the plane’s model and design the control law.

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