臺灣博碩士論文加值系統

本研究將四軸多旋翼機加入上反角之設計，目的是為了提升姿態子系統抑制最大超越量(Maximum Overshoot)之性能，使多旋翼機執行飛行任務時減少機身擺動幅度，經飛行測試驗證至多可減少24%之最大超越量。
研究首先回顧上反角設計之效益，接著對一般四軸旋翼機與具有上反角之四軸旋翼機進行狀態估算(State Estimation)，間推導動態方程式(Dynamic Equations)做為控制目標，根據控制理論與模擬結果推測上反角設計相當於增加系統阻尼，能夠減少最大超越量。並藉由設計製作具有上反角模組之四軸旋翼機進行飛行測試驗證。
實驗結果除證實上反角設計有助於抑制最大超越量，利用統計找出上反角角度與減少最大超越量兩者關係之趨勢。此外，亦有減少機身晃動幅度以及使晃動更快停止等優點。且值得一提的是，因分散推力所導致的耗電量增加幅度優於(小於)預估值。
此成果具有相當商業價值，可應用於空中攝影、工業檢測等需要高精度之飛行任務。未來建議於耗電量與飛控系統演算法兩方面進行深入探討，成果將作為日後多旋翼飛機設計依據。

This research adopted dihedral angles for quadcopter design. A dihedral angle design could assist attitude subsystem to suppress its maximum overshoot, hence minimizes the body swing. According to the experiment conducted in this research, a dihedral angle design could reduce up to 24% of maximum overshoot.
In this research, the advantages of a dihedral angle design is evaluated, and then calculate the state estimation of a standard quadcopter and quadcopters with different dihedral designs. Find the control target by deriving the Dynamic Equations. An experiment is conducted to verify the theory, using a quadcopter with different dihedral angle design modules.
According to control theory and its simulation result, a dihedral angle design is similar to adding a damper on quadcopter system, and could reduce the maximum overshoot.
This result not only shows that a dihedral angel design could reduce the maximum overshoot, but also finds out the trend among different dihedral angles and their maximum overshoot with statistic methods. Furthermore, dihedral angle designs could also reduce swing and stop the swing earlier. One other thing worth mentioning is that the power efficient is better than expectation.
This research has high commercial value, and its result could be applied to those tasks which require higher precision, such as aerial photography, industrial inspection, etc. In order to have a thorough look into dihedral angel designs, a further research regarding power consumption and the algorithm of flight control system is recommended.

目錄
中文摘要 I
英文摘要 II
誌謝 VI
表目錄 X
圖目錄 XI
符號表 XIV
第一章 緒論 1
1-1 前言 1
1-2 研究動機與目的 3
1-3 文獻回顧 6
1-3-1文獻回顧(一) 上反角於定翼機之文獻回顧 6
1-3-2 文獻回顧(二) 旋翼機上反角之文獻回顧 8
1-4 論文架構 10
第二章 系統架構與控制理論 12
2-1 控制方法與介紹 12
2-2 狀態模型建立之方法 14
2-3 結構與模型建立 15
2-4 PID控制(比例-積分-微分控制器) 18
2-4-1 PID介紹 18
2-4-2 PID控制器調整方法 19
2-4-3 齊格勒－尼科爾斯方法(Z-N法) [6] 20
第三章 結構設計與數學模型建立 22
3-1 常見旋翼機之上反角設計 22
3-2 數學模型建立 25
3-2-1 力矩 25
3-2-2 空氣動力學的影響 26
3-2-3 具有上反角設計之四旋翼動態模型 30
3-3 控制與模擬 31
第四章 實驗與結果討論 33
4-1 實驗設計 33
4-1-1實驗目的 33
4-1-2實驗方法與流程 34
4-1-3實驗設備與無人機製作 36
4-1-3-1實驗設備與軟體 36
4-1-3-2無人旋翼飛機製作 37
4-1-3-3上反角設計與製作 40
4-2 實驗 46
4-2-1實驗步驟 46
4-2-2讀取log 50
4-2-2-1讀取姿態log 50
4-2-2-2讀取電流log 57
4-3 實驗結果與討論 59
4-3-1 姿態子系統綜觀討論 59
4-3-2姿態子系統進階討論 62
4-3-3累計用電量損失討論 66
第五章 結論 69
5-1結論 69
5-2未來工作規劃 70
參考文獻 73

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