國立成功大學的無人載具與微衛星實驗室（RMRL）已針對低價位無人飛機進行了多年的研究。本實驗室的SWAN無人飛機計畫已完成視距外飛行試驗，而SWAN無人飛機本身已擁有鎖定高度及航向的功能，但還未完成自動起降的部份。為了完成這一部分的技術發展，這一項研究之目的是針對SWAN無人飛機完成電腦輔助降落控制系統設計。所謂“電腦輔助”就是由電腦完成縱向控制，飛行員負責橫向控制。主要的目的是為未來實現自動降落建立基礎。為了達成這一項目的，本研究特別對SWAN無人飛機的試飛資料進行分析以了解SWAN無人飛機降落的特性。再利用試飛資料及觀察者卡爾曼鑑別方法(OKID)建立了SWAN無人飛機在降落時的不連續動態模型。而進近及仰轉控制器的設計則利用傳統控制PID理論完成。設計完成的控制器是利用Simulink經由電腦模擬驗證。

For years, the Remotely Piloted Vehicle and Micro-Satellite Laboratory (RMRL) of National Cheng Kung University (NCKU) have conducted low cost UAV researches. The SWAN UAV project in RMRL has so far completed beyond visual range (BVR) flight. The SWAN UAV is equipped with the altitude hold, heading hold capability, but yet to have an autonomous take off and landing system. As a preliminary effort, this research designed a controller of a computer aided autonomous landing control system for UAV. The term “computer aided” is defined as that the longitudinal control is autonomous and the lateral control is manual. This is a preliminary effort of the development of a fully autonomous landing system in the future. To accomplish this, analyses were conducted to understand the behavior of SWAN UAV during landing, discrete dynamic model of the UAV was derived from test flight data by using Observer Kalman Identification Method (OKID), and the controllers for both approaching and flare phases were designed by using the classical PID control theory. The designed landing longitudinal controllers were then verified in a computer simulation conducted by using Simulink.

(1) Barber, D.B., Griffiths, S.R., McLain, T.W., Beard, R.W., “Autonomous Landing of Miniature Aerial Vehicles”, AIAA Infotech@Aerospace, Arlington, VA, September, 2005, Paper no. AIAA-2005-6949.

(2) Chan, J.T.H., “Flight Dynamics Lecture Handout”, National Cheng Kung University, Tainan, Taiwan, 2004

(3) Chan, J.T.H., “Aircraft Stability & Control”, National Cheng Kung University, Tainan, Taiwan, 2005

(4) Chen, W. & Valasek, J., “Observer/Kalman Filter Identification for On-line System Identification of Aircraft”, AIAA Atmospheric Flight Mechanics Conference, Portland, Oregon, United States, 10 August 1999

(5) Chien, Y.H., “The Realization of Autonomous Flight Control for UAV”, Master Thesis, IAA, National Cheng Kung University, 2004

(6) Dorf, R.C., Bishop, R.H., “Modern Control Systems”, 9th Edition, Prentice-Hall International Inc., New Jersey, United States, 2001

(7) Hsiao, F.B., Lai, Y.C., Tenn, H.K., Hsieh, S.Y., Chen, C.C., Chan, W.L. & Hirst, R., “The Development of an Unmanned Aerial Vehicle System with Surveillance, Watch, Autonomous Flight & Navigation Capability”, 21st International Unmanned Air Vehicle Systems Conference, University of Bristol, Bristol, United Kingdom, 3-5 April 2006

(8) Hur, G.B. & Valasek, J., “System Identification of Powered Parafoil-Vehicle from Flight Test Data”, AIAA Atmospheric Flight Mechanics Conference and Exhibit, Austin, Texas, United States, 11-14 August 2003

(9) Iovine, J., “Robots, Androids, and Animatrons: 12 Incredible Projects You Can Build”, 2nd Edition, McGraw-Hill, 2005, ISBN 0-07-137683-6

(10) Jan, S.S., “Aircraft Landing Using a Modernized Global Positioning System and the Wide Area Augmentation System”, PhD Thesis, Stanford University, United States, May 2003

(11) Juang, J.N., “Applied System Identification”, Prentice Hall Inc., Englewood Cliffs, New Jersey, United States, 1994, ISBN 0-13-079211-X

(12) Juang, J.N., “Autonomous System Identification & Control Lecture Handout”, National Cheng Kung University, Tainan, Taiwan, 2005

(13) Lim, R.K., Phan, M.Q., Longman, R.W., “State-Space System Identification with Indentified Hankel Matrix”, Department of Mechanical and Aerospace Engineering Technical Report No. 3045, Princeton University, Princeton, New Jersey, United States, September 1998.

(14) Lizarraga, M.I., “Autonomous Landing System for a UAV”, MSc Thesis, Naval Postgraduate School, Monterey, California, United States, March 2004

(15) Ogata, K., “Discrete-Time Control Systems”, Prentice-Hall International Inc., New Jersey, United States, 1995, ISBN 0-13-328642-8

(16) Riseborough, P., “Automatic Take-Off and Landing Control for Small UAVs”, 5th Asian Control Conference 2004, Volume 2, 20-23 July 2004 Page(s):754 - 762 Vol.2

(17) http://en.wikipedia.org/wiki/Instrument_Landing_System#ILS_categories

(18) http://waas.stanford.edu/index.html