臺灣博碩士論文加值系統

本論文主要的目的是探討一飛行翼飛機之縱向穩定控制設計。飛行翼之外型幾何尺寸經建立後，利用DATCOM程式估算其空氣動力係數，藉以分析此翼型機之穩定特性。分析結果顯示，翼型機之穩定特性不佳，需要設計一控制系統以增強其穩定性。控制設計中，PID為相當實用之方法，可以改善系統暫態及穩態之性能，但當其應用在一多重輸入及多重輸出(MIMO)之飛機縱向系統，所需調整的增益值(gains)數目非常多，以一般常見之根軌跡法應用於此系統上顯然不濟其事，因此，本論文採用特徵根指定法設計控制系統，可以解決多重輸入及多重輸出(MIMO)之問題。
建立設計方式後，運用牛頓迭代之數值法，求得控制器內之增益值，再根據系統特性，模擬其接受控制器後之響應情形，並測試其受控程度以驗證所設計之控制器具備的控制能力。經由模擬結果顯示，飛行翼之縱向系統在PID控制下其輸出響應確實有明顯的改善，另外，藉由給予指令操縱其狀態以達成需求目標，則表現情況不如預期，說明了飛行翼本身的控制穩定度不足外，控制器的精準度亦尚有強化的空間，但大體上來說，針對穩定性不佳的系統，PID控制足以修正大部分的不良狀態。

In this thesis, the major objective is to synthesizes the longitudinal stability control design for a flying-wing type aircraft. The flying-wing geometrical configuration is established and the digital DATCOM program is used to estimate its aerodynamic coefficients in order to analyze its stability characteristics and tracking performance. The results show that its stability characteristics is poor and a control system is needed to be designed in order to enhance the stability. It is known that PID method is very useful for control design, as it can improve the transient state characteristics and track a constant command input. However, when the system is multiple-input and multiple-output (MIMO) as for the case in this thesis, it is unhelpful to use the conventional root locus method. Therefore, in this thesis, the eigenvalue assignment method which can be used in the multiple-input and multiple-output (MIMO) system is adopted.
In using the eigenvalue assignment method, the characteristic equation of the system is established and the coefficients are compared with those of the polynomial equation formed from the desired eigenvalues. A set of nonlinear algebraic equations are thus established for the control gains and solved by using the Newton-Raphson iterative method. After the gains are determined, the feedback control system is simulated. From the simulation results, it is found that the output response in longitudinal system of flying wing has been significantly improved with the PID control.

摘要 i
Abstract ii
誌謝 iv
目錄 v
圖目錄 vii
表目錄 ix
符號表 x
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 研究方法 3
第二章 空氣動力係數的估算及其模型建立 5
2.1 飛行翼幾何尺寸 5
2.2 DATCOM程式建立 6
2.3 翼身分析 7
2.4 機翼控制面之分析 13
2.4.1 中間襟翼作用 13
2.4.2 最內襟翼作用 14
2.5 運動方程式的推導與配平分析 15
2.5.1 運動方程式的建立 16
2.5.2 配平分析 18
第三章 特徵根指定法於系統設計 24
3.1 特徵根指定法之設計介紹 24
3.2 PID控制器於控制系統的設計 25
3.3 縱向控制系統的設計 28
3.3.1 案例1-僅以比例控制係數K_p的靜態補償模式 30
3.3.1.1 系統之狀態變數僅考慮α、q 31
3.3.1.2 系統之狀態變數為V、α、q、θ 35
3.3.2 案例2-使用PID控制器之動態補償模式 38
第四章 縱向控制系統之穩定分析 42
4.1 飛行翼未受控前之縱向系統分析 43
4.2 系統受控後之穩定分析 46
4.2.1 控制比例控制係數K_p下之縱向動態短週期模式 46
4.2.2 控制比例控制係數K_p下之縱向動態全週期模式 47
4.2.3 PID控制器下之縱向動態全週期模式 51
4.3 系統受控後之狀態操控能力分析 55
第五章 結論 58
參考文獻 59
附錄 61
A. DATCOM程式之參數解釋 61
B. 本文翼型機之機翼平面 61
C. 本文理論過程推導 61

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