本文主要研究為傾轉式旋翼機之飛行控制。藉由空氣動力學特性分析飛機各部件所產生的力及力矩以及飛機的幾何關係建立傾轉式旋翼機的數學模型，並針對旋翼機模式及定翼機模式設計高度及姿態控制器，再透過非線性動態反算(NDI)求得期望的控制面，以達到軌跡追蹤、空中懸停等控制目的，最後使用MATLAB/SINULINK進行傾轉式旋翼機的飛行模擬，在旋翼機模式下透過非均勻有理B樣條曲線(NURBS curve)規劃出符合物理特性之飛行運動軌跡，進行軌跡追蹤之飛行控制模擬，在定翼機模式下進行高度及姿態穩定飛行模擬，並確定合適的轉換路徑使傾轉式旋翼機平順地從旋翼機模式轉換到定翼機模式，完成轉換飛行模式間之過渡段飛行模擬。並將模擬過程之數據與美國國家航空暨太空總署(NASA)建立的傾轉式旋翼飛行器通用的飛行模擬數學模型(generic tiltrotor simulation, GTRS)做比較以驗證模型正確性。

This paper develops a simple model of a tiltrotor aircraft using the basic equation of motion. The model contains a fuselage, wings, horizontal and vertical tails and two main rotors. Aerodynamic loads and inertial forces at each part has been calculated and summed up, subsequently, transform the forces and moments to body forces and moments to get the trim equation. The altutide and attitude controller were designed for helicopter and airplane mode individually. The desire control surfaces were determined using nonlinear dynamic inverse(NDI) in order to implement hovering control or trajectory tracking. The simulation was carried out in MATLAB/Simulink. In helicopter mode, a physically flight path was planned with the method of Non-Uniform B-Spline(NURBS) in order to implement trajectory tracking or hovering control simulation. In airplane mode, the altutide and attitude stability control was finished. In comversion mode, a suitable control straregy was determined so the tiltrotor aircraft convet from helicopter mode to airplane mode smoothly. The results were validated against generic tiltrotor simulation(GTRS) model results established by America National Aeronautics and Space Administration(NASA). The model resulred in was able to show inherent tiltrotor charateristics.

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