臺灣博碩士論文加值系統

無人直升機有別於固定翼之無人飛機，不需要大型平整跑道提供起降，且由於直升機具備定點停懸之獨特能力，較一般固定翼無人飛機更適合空中偵查、 交通監控、以及環境監測等任務。本文的研究目的是在於運用滑動模式控制理論在無人直升機系統上之自主停懸的控制器設計與飛測驗證。
在過去幾十年間滑動模式控制理論已在強健控制領域上被廣泛的注意。這些良好的特性是建立在所謂的理想滑動模式上，而此滑動模式是藉由一種不連續的訊號控制所達成。然而，由於實際的物理限制，在瞬間無限的快速切換訊號控制是難以被實現且會導致非期望的控制結果。其中雙滑動模式控制器的設計理念是將分離成兩條比例積分微分型滑動面，可降低系統狀態的軌跡產生顫抖現象，並提升控制器的響應，而且，由於新的無顫抖型雙滑動模式控制器的簡單組成，應用在實務時也不會造成使用者實用的困擾。為了顯示雙滑動模式控制器可提高系統的性能，本文開發一個實驗的無人直升機系統平台去評估控制器的性能。在模擬數據分析得知雙滑動模式控制器不僅追蹤誤差比較小，而且誤差收斂速度比傳統的滑動模式控制器快，因此，電腦模擬和實際飛行測試也成功驗證了無人直升機系統的橫向和縱向控制器。最後本文也經由實際飛行測試資料結果顯示飛測與模擬結果是符合的。

Unmanned helicopter has been demanding for certain applications due to its unique flight capability. The unmanned helicopter can take off and land within a limited space and it can hover and cruise at a very low speed. The autonomous hovering is one of the most significant flight maneuvering conditions for an unmanned helicopter and offers an unmanned helicopter a wide variety of applications. Thus, an autonomous hovering controller design based on sliding mode control (SMC) theory and its flight test verification for a small-scaled unmanned helicopter system are presented in this study.
Owing to its unique properties, SMC theory has attracted a wide attention in the robust control field and these features are based on the existence of the so-called ideal sliding mode, which is achieved with the aid of discontinuous control. However, due to its physical limitations, the infinitely fast switching is difficult to be realized and may lead to undesirable control results. Thus, the twin sliding mode controller (TSMC) is designed with two separate proportional-integral-derivative boundary surfaces in order to reduce the chattering and improve the controllers' responses. Due to the simplicity of the TSMC structure, the proposed TSMC will cause no difficulty for users to realize it practically. In order to show how the TSMC may improve the system performance, this study develops an experimental unmanned helicopter system test-bed to assess the performance of the proposed controller. The simulation results of this work has validated that the tracking error of the TSMC is not only smaller but also converges quicker than the conventional SMC. Unlike the conventional SMC method, the proposed TSMC is capable of achieving the desired control qualities and the tracking performance. As shown in the flight test results, the 2-distance-root-mean-squared (2DRMS) position error is less than 5m. The flight test results are presented in the dissertation and they are found to be consistent with the simulation results.

CONTENTS
CHINESE ABSTRACT i
ABSTRACT ii
EXTENDED CHINESE ABSTRACT iiv
ACKNOWLEDGMENT xi
LIST OF TABLES xv
LIST OF FIGURES xvi
NOMENCLATURE xix
1. Introduction 1
1.1 Unmanned Helicopter 2
1.2 Development of Unmanned Helicopter in RMRL 7
1.3 Motivation and Objectives 9
1.4 Dissertation Overview 10
2. Unmanned Helicopter Mathematical Model 11
2.1 Equations of Motion 11
2.2 Main Rotor Dynamics and Tail Rotor Dynamics 12
2.3 Overall Model 15
2.4 Interim Summary 16
3. Unmanned Helicopter System Architecture 17
3.1 Unmanned Helicopter System 17
3.2 Onboard Avionics System 19
3.2.1 System Architecture Description 19
3.2.2 Attitude Heading and Reference System 21
3.2.3 Global Positioning System 23
3.2.4 Servo Circuit Board Design 23
3.2.5 Power Distribution and Altimeter Sensor Board 24
3.2.6 Wireless Module and Panel Antenna 24
3.2.7 Onboard Computer and Coding Programs 25
3.3 Ground System 28
3.3.1 Ground Control Station 28
3.3.2 Video System 30
3.3.3 Weather System 31
3.4 Interim Summary 32
4. System Identification 33
4.1 Unmanned Helicopter System Identification 33
4.1.1 Building Parametric Model 33
4.1.2 Flight Data Collection and System Identification
Rules 34
4.2 Levnberg-Marquardt Identification Method 35
4.3 Identification Results 36
4.4 Model Validation 40
4.5 Interim Summary 43
5. Controller Design for Autonomous Hovering 44
5.1 Sliding Mode Control 45
5.2 Integral Sliding Mode Control 52
5.3 Proportional-Integral Sliding Mode Control 55
5.4 Twin Sliding Mode Control 58
5.5 Examples of Numerical Simulations 61
5.5.1 Numerical Simulation Results of SMC Method 62
5.5.2 Numerical Simulation Results of ISMC Method 64
5.5.3 Numerical Simulation Results of PISMC Method 66
5.5.4 Numerical Simulation Results of TSMC Method 68
5.5.5 Comparison and Analysis of Tracking Performance
and Responses 70
5.6 Simulation Results for Hovering Controller
Design 73
5.6.1 SMC Design 73
5.6.2 PISMC Design 75
5.6.3 TSMC Design 77
5.6.4 Simulation Results and Discussions 78
5.7 Flight Test Results and Discussions 82
5.7.1 Comparison Between Control Signal Given by
Pilot and Post-process of the Signal by
Controller 84
5.7.2 SMC Results 85
5.7.3 PISMC Results 90
5.7.4 TSMC Results 96
5.7.5 Hovering at a Target Point with a Distant
Initial Point 101
5.8 Controller Verification From Flight Test
Restults 103
6. Conclusions 105
6.1 Summary of Contributions 106
6.2 Future Work 108
REFERENCES 109
VITA 117
PUBLICATION LIST 118

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