自從七O年代起，積體電路（Integrated Circuit, IC）由於功能穩定的優點而在硬體電路界冒出芽來，原因不外乎是其微小、精密、運算快速，甚至價格便宜等特性。由於這些優點，吾人在本文中利用德州儀器公司生產的DSP晶片來實現直昇機的起降模擬系統。藉由MATLAB及Simulink來執行複雜的控制迴路計算，再利用Real Time Workshop(RTW)將控制器迴路編譯成C code，下載到DSP內執行。吾人期望透過這樣的研究能達成直昇機自動駕駛系統微小化、輕量化的目的。

　　本論文最大的貢獻在於將直昇機的非線性模型、LMI飛行控制器、船舶運動、以及直昇機海面起降的操作環境，都整合在同一個迴路下，並且以DSP晶片做為系統的控制器，實現硬體迴路(Hardware-in-the-loop)的設計。

　From 1970’s, the development of Integrated Circuit (IC) has grown into more important in hardware circuit, because of its stable capability. Without a doubt, the reasons are its smallness, preciseness, high speed, and cheapness. Due to these advantages, we use DSP chip which is manufactured by Texas Instrument to implement this dynamic simulation system in this thesis. The complicated helicopter control loops are simulated by MATLAB & Simulink, translated to C code by real-time workshop (RTW), and finally downloaded to DSP .What we have expect is making the helicopter auto-pilot system lighter and smaller through this research.

　The contribution in this thesis is combination of system design on a loop : helicopter nonlinear model, LMI flight controller, ship motion, and helicopter shipboard operational environment. We utilize DSP chip for controller of this system to implement the designing of hardware-in-the-loop.

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