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研究生： 黃政皓
Huang, Cheng-Hao
論文名稱： 自主性載具系統整合及開放式開發環境的建立
Open Integrated System Development Environment for Autonomous Vehicle System
指導教授： 譚俊豪
Tarn, Jun-Hao
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： 2013
畢業學年度： 101
語文別： 英文
論文頁數： 243
中文關鍵詞： 飛行動力模組 、控制器 、自主性載具
外文關鍵詞： Flight Dynamic Model, controller, autonomous vehicle
相關次數： 點閱：85  下載：2 
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    • 在此篇論文中，自主性載具的動態分析與控制將發展成一個很靈活實用的環境。此環境使用功能強大且靈活性高的模擬仿真與系統分析程序SIMULNIK與MATLAB。由於MATLAB的模組化結構，我們可以很容易將定翼機與直升機模組改編成別種載具模組，而內建的trim與線性化工具可讓SIMULINK與MATLAB環境更加完善的去執行非線性控制系統設計與分析。因此，我們只須建立載具的動力模組與控制器，使其可以完成我們想要做的動作。

    文中所使用到的工具皆可廣泛應用到飛機穩定與控制分析領域上，且因為MAYLAB的全方位的功能，更可將載具模組運用在教學上，使更多人可以輕鬆使用。

    在未來希望可以將所有載具都發展成一個標準化模組，讓它可以適用在所有想分析的載具上。

    In this thesis, a flexible environment for the analysis of autonomous vehicle dynamics and control will be developed. This environment uses the power and flexibility of the simulation and system analysis programs SIMULINK and MATLAB.

    Due to MATLAB modular structure, the model can easily be adapted for other aircraft. Aircraft trim and linearization tools have been included to be able to do the whole linear and nonlinear control system design and analysis from within the same MATLAB/SIMULINK environment. So, we just build flight dynamic model and controller to do what we want to.

    The tools from this thesis can be used for a broad range of applications in the field of aircraft Stability and Control analysis. Even the current models can readily be used for educational purposes.

    In the future, the tools need to be developed further into a standardized analytical tool which must be applicable to virtually any aircraft. If possible, easy links from this environment to the flight-simulator and flight control computers of the aircraft need to be made, in order to shorten the development cycle of automatic control systems.

    摘要 I Abstract II 致謝 III Contents IV List of Figures VIII List of Tables XII Chapter 1. Introduction 1 Chapter 2. Design and evaluation of Automatic Aircraft Control Systems (Extracted from "A SIMULINK environment for Flight Dynamics and Control analysis application to the DHC-2’Beaver’ part1 Ch1") 3 2.1 Introduction 3 2.2 The AACS design process 3 2.3 The place of this research within the AACS design process 7 2.4 Conclusions 8 Chapter 3. Dynamic models of the Beaver (Extracted from "A SIMULINK environment for Flight Dynamics and Control analysis application to the DHC-2’Beaver’ part1 Ch2") 9 3.1 Introduction 9 3.2 Aircraft equations of motion 9 3.2.1 General nonlinear equations of motion 9 3.2.2 Force and moment models 12 3.2.3 Writing the β-equation explicitly 18 3.2.4 Atmosphere model 20 3.2.5 Additional output equations 23 3.3 Conclusions 25 Chapter 4. Dynamic models of the Helicopter (Extracted from "Autonomous Aerobatic Maneuvering of Miniature Helicopters") 27 4.1 Introduction 27 4.2 Helicopter parameters 27 4.3 Equations of motion 30 4.4 Component forces and moments 31 4.4.1 Main rotor forces and moments 31 4.4.2 Engine, governor and rotor speed model 43 4.4.3 Fuselage forces 47 4.4.4 Vertical forces and moments 49 4.4.5 Horizontal stabilizer forces and moments 50 4.4.6 Tail rotor 50 4.5 Actuator models 55 Chapter 5. The Base-line Control of Fixed-wing (Extracted from "A SIMULINK environment for Flight Dynamics and Control analysis application to the DHC-2’Beaver’ part2 Ch2") 57 5.1 Introduction 57 5.2 Longitudinal modes 57 5.2.1 Pitch Attitude Hold mode (PAH) 57 5.2.2 Altitude Hold mode (ALH) 58 5.2.3 Altitude Select mode (ALS) 59 5.2.4Longitudinal part of the Approach mode: Glideslope (GS) 60 5.2.5 Longitudinal part of the Go Around mode (GA) 63 5.3 Lateral modes 63 5.3.1 Roll Attitude Hold mode (RAH) with turn coordinator 63 5.3.2 Heading Hold / Heading Select mode (HH) 66 5.3.3 Lateral part of the Approach mode: Localizer (LOC) 67 5.3.4 Navigation mode (NAV) 70 5.3.5 Lateral part of the Go Around mode (GA) 72 5.4 Turncompensation 72 5.4.1 Correction of the pitch-rate q in turns 72 5.4.2 Compensation for the loss of lift in turns 76 5.5 The signal limiters 76 5.6 Conclusions 78 Chapter 6. The Base-line Control of Helicopter (Extracted from "Attitude Control Optimization for a small-scale unmanned helicopter") 81 6.1 Description of the Base-line Control System 81 6.2 Flight Validation of the Base-line Control System 82 6.3 Stability Analysis of the Base-line Control System 82 6.4 Control System Optimization 83 6.4.1 Attitude Control Architecture 83 6.4.2 Optimization of the Attitude Control System 83 6.5 Conclusions 84 Chapter 7. The Auto-Landing Controller of Fixed-wing 86 7.1 Introduction(Extracted from "Autolanding controller for a fixed wing unmanned air vehicle") 86 7.2 Auto-landing Maneuvers(Extracted from"Autolanding controller for a fixed wing unmanned air vehicle") 87 7.3 Simulation of auto-landing 89 7.4 The analytical tools in Auto-landing 90 7.4.1 Program structure of ACTRIM 90 7.4.2 Program structure of ACLIN 95 7.4.3 Programs structure of LQR 96 7.4.4 Program structure of Least square 96 7.5 Conclusions 100 Chapter 8. The SIMULINK simulation model of Beaver (Extracted from "A SIMULINK environment for Flight Dynamics and Control analysis application to the DHC-2’Beaver’ part1 Appendix F") 101 8.1 Introduction 101 8.2 Nonlinear model of the aircraft dynamics: state and output equations 101 8.2.1 Introduction 101 8.2.2 List of variables, used for the aircraft state and output equations 102 8.2.3 First level of the simulation model ‘Beaver’ 106 8.2.4 ‘Beaver’ dynamics and output equations (second level of Beaver) 109 8.2.5 To compute initial conditions and to linearize the aircraft model 125 Chapter 9. The SIMULINK simulation model of Helicopter 179 9.1 Introduction 179 9.2 List of variables, used for the aircraft state and output equations 179 9.3 First level of the helicopter simulation model 180 9.4 The helicopter dynamics 180 9.5 Simulation results 185 Reference 189 Appendix A. Analysis of nonlinear dynamical systems with SIMULINK (Extracted from "A SIMULINK environment for Flight Dynamics and Control analysis application to the DHC-2’Beaver’ part1 Ch3") 193 A.1 Introduction 193 A.2 The programs SIMULINK and MATLAB 193 A.3 Advantages and disadvantages of SIMULINK, compared with other simulation environments 194 A.4 System representation in SIMULINK 196 A.5 The analytical functions of SIMULINK 198 A.6 SIMULINK block diagrams 199 A.7 Conclusions 199 Appendix B. The SIMULINK simulation models (Extracted from "A SIMULINK environment for Flight Dynamics and Control analysis application to the DHC-2’Beaver’ part1 Appendix G") 200 B.1 Introduction 200 B.2 Blocks from the Source-library 200 B.3 Blocks from the Sinks-library 201 B.4 Blocks from the Discrete-library 202 B.5 Blocks from the Linear-library 203 B.6 Blocks from the nonlinear-library 204 B.7 Blocks from the Connections-library 205 B.8 The Group and Mask functions 206 B.9 Conclusions 207 Appendix C. Avionic (Ardupilot-Mega) and Ground Station (Mission Planner) (Extracted from DIY DRONES) 208 C.1 Setup 208 C.1.1 Assembly 208 C.1.2 Download and install the Mission Planner and flight software 211 C.1.3 Connect RC equipment 213 C.1.4 Set up configuration 215 C.2 Flying 219 C.2.1 Starting up and calibrating Unmanned Autonomous Vehicle 219 C.2.2 Tuning Unmanned Autonomous Vehicle 220 C.2.3 Mission planning and analysis 226 C.2.3.1 Using the Mission Planner Ground Station 227 C.2.3.2 Planning a mission with waypoints and events 228 C.2.3.3 Recording and playing back missions 232 C.2.3.4 Downloading and analyzing onboard flight data 233 C.2.3.5 Configuring PID settings for airframe 235 C.2.3.6 Using serial terminal 236 C.2.3.7 Interfacing with flight simulator 237

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