臺灣博碩士論文加值系統

關於康達效應的研究以及對康達效應飛行器機械設計的改進方面已經有許多相關的研究，但是在討論康達飛行器控制的方面卻少之又少。
本篇研究旨在運用康達(Coanda)效應的飛行器上，為其特殊的結構，建立運動方程式以及控制器，讓飛行器達到穩定可控的狀態。
康達飛行器的升力包含動量改變後的升力與氣壓差造成的升力兩種，在本論文中，會依據這兩種力，推導運動方程式，並根據運動方程式建立控制器。運動方程式的推導包含座標系的定義、座標系間的尤拉角轉換，以及牛頓-尤拉方程式的推導，之後透過線性化，得到零階與一階的運動方程式，並測試飛行器的穩定性及可控性。控制器設計則根據運動方程式建立開回路與閉迴路模型，並使用一階擾動技術建立PID回授控制器以及前饋控制器。
最後，得到康達效應飛行器為不穩定且完全可控的系統，並透過Matlab/Simulink建立康達飛行器的數值模擬程式，並分別對開回路與閉迴路模型，進行動態模擬與驗證。

While much work has been performed in the research of the Coanda effect and related mechanical design of the Coanda effect aircraft, little discussion has been found on the control of the Coanda effect saucer.
The focus of this thesis is to derive the dynamical equations and controller for a special-structured Coanda effect saucer that will allow the aircraft to reach a stable and controllable state.
There are two kinds of lifts: the lift caused by the momentum change and the lift caused by the air pressure difference. In this thesis, dynamical equations are derived based on these two kinds of lifts, by utilizing Newton-Euler equations together with coordinate systems and Euler angles. And, linearization is used to analyze the stability and controllability of the Coanda effect saucer’s dynamical equations. Then, the first-order perturbation is used with dynamical equations to establish feedforward controller and PID feedback controller.
Coanda effect saucer is proved to be an unstable and fully controllable system. Matlab/Simulink is used to build a numerical program, and simulations for both the open loop and closed loop numerical programs are performed and verified.

誌 謝 i
摘 要 ii
Abstract iii
目 錄 iv
圖目錄 vii
第一章 序論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 論文導覽 6
第二章 康達飛行器 8
2.1 康達效應原理 8
2.2 飛行升力分析 10
2.2.1 壓力差造成之推力 10
2.2.2 動量改變造成之推力 12
第三章 運動方程式推導 14
3.1 座標系統 14
3.2 座標轉換 15
3.2.1 座標的平移轉換 15
3.2.2 座標的旋轉轉換 16
3.3 慣性張量 18
3.4 平移運動分析 19
3.4.1 氣壓差之推力 21
3.4.2 方向舵改變之推力 21
3.4.3 鰭片改變之推力 23
3.4.4 造成平移運動之合力 24
3.5 旋轉運動分析 24
3.5.1 方向舵產生之力矩 24
3.5.2 鰭片改變之力矩 26
3.5.3 造成旋轉運動之總力矩 26
3.6 運動方程式 26
第四章 飛行控制器建立 29
4.1 線性化 29
4.2 穩定性分析 32
4.3 可控性分析 35
4.4 控制器整體建立 36
4.5 前饋控制器 37
4.6 回授控制器 37
4.6.1 PID控制器 38
4.6.2 PID參數選擇 40
4.7 推力與控制項間的轉換 42
第五章 動態模擬 48
5.1 開迴路模擬 48
5.1.1 懸停 48
5.1.2 方向舵角度不為零 50
5.1.3 鰭片角度不為零 51
5.2 閉迴路模擬 53
5.2.1 懸停飛行模擬 53
5.2.2 X方向平移飛行模擬 56
5.2.3 Y方向平移飛行模擬 58
5.2.4 Z方向平移飛行模擬 61
第六章 結論與未來展望 64
6.1 結論 64
6.2 未來展望 64
參考文獻 66
附錄 68
A_X ̈ 係數矩陣 68
A_X ̇ 係數矩陣 69
A_X係數矩陣 70

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