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研究生： 趙弘文
Chao, Hong-wen
論文名稱： 無人旋翼機自動駕駛系統之研發
Development of The Autopilot System for An Unmanned Helicopter
指導教授： 謝成
Hsieh, Chen
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： 2009
畢業學年度： 97
語文別： 中文
論文頁數： 75
中文關鍵詞： 線性化 、陀螺效應 、制御方程式 、直昇機
外文關鍵詞： gyrostat, rotorcraft
相關次數： 點閱：107  下載：4 
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    • 由於無人飛行載具具有重量輕、體積小、機動性高、自主性高等優點，一直以來都是備受矚目的研究對象。而目前最常被拿來作研究對象，就屬定翼機與懸翼機兩種。而以一般大眾最常使用的功能，不外乎就是定點的盤旋與前後左右運動，在這方面旋翼機比起定翼機有著顯著的優異性。但是由於旋翼機複雜的空氣動力與陀螺運動，使得很多研究者因此而卻步。
    本研究的目的在於建立一個旋翼機的數學模型，進而分析、控制旋翼機的運動，使得一般使用者能夠很輕易的操作旋翼機，而不需像傳統般長時間的訓練才可以操作。過程中，除了建立非線性及線性模型外，更用模擬作初步驗證系統模型的正確性，並且製作、設計控制系統於真實的模型懸翼機上作為最終的驗證。

    The unmanned aerial vehicle (UAV) has the advantage of light weight, small size, and
    better dynamic performance and it can be designed for any type. It always is taken a notice of research objective all this year. The most popular research objectives are fixed-wing aircraft and rotor-wing aircraft. The function for the people usually use is hovering and at a fixed point to do forward、backward、left、right motion. In this hand, rotor-wing aircraft is better than fixed-wing aircraft. But, because rotorcraft has complex aerodynamic, mechanism and gyroscopic dynamic make researcher stop forward.
    The target for this research is to build a rotor-wing aircraft’s mathematical model and use this model to analysis, control the motion of rotor-wing aircraft. To make everyone can control a rotor-wing aircraft without training for a long time. In this progress, not only build linear and non-linear models but also proof the correct of model by simulation first, then make this controller on real rotor-wing aircraft for final test.

    誌 謝 ................................................................................................................................ I 中文摘要 ............................................................................................................................ II 英文摘要 .......................................................................................................................... III 目錄 ............................................................................................................................... IV 圖目錄 .............................................................................................................................. VI 表目錄 .............................................................................................................................. IX 章節 頁碼 第一章 緒論 ................................................................................................................. 1 1-1 前言 .................................................................................................................. 1 1-2 研究動機 .......................................................................................................... 1 1-3 文獻回顧 .......................................................................................................... 2 1-4 研究目標與方法 .............................................................................................. 3 1-5 論文架構 .......................................................................................................... 4 第二章 系統的建立 ..................................................................................................... 5 2-1 系統規格與載具選定 ...................................................................................... 5 2-2 感測器及載具其他周邊選用 .......................................................................... 9 第三章 直昇機制御方程式分析 ............................................................................... 22 3-1 建立直昇機座標間的關係 ............................................................................ 22 3-2 幾個假設 ........................................................................................................ 23 3-3 動力學分析 .................................................................................................... 24 3-4 氣動力學分析： ............................................................................................ 29 3-5 簡化、線性化數學模型 ................................................................................ 43 第四章 控制律設計與系統模擬 ............................................................................... 46 4-1 操控規格及控制模式 .................................................................................... 46 4-2 控制律設計 .................................................................................................... 49 4-3 系統模擬 ........................................................................................................ 53 第五章 實驗規劃及飛行測試結果 ........................................................................... 57 5-1 實驗步驟 ........................................................................................................ 57 5-2 感測器測試 .................................................................................................... 58 5-3 地面測試 ........................................................................................................ 63 5-4 實際飛行測試 ................................................................................................ 65 第六章 結論與未來展望 ........................................................................................... 72 6-1 結論 ................................................................................................................ 72 6-2 未來展望 ........................................................................................................ 72 參考資料 ........................................................................................................................... 73 自述 ................................................................................................................................ 75

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