臺灣博碩士論文加值系統

鑒於無人載具系統應用日益受到全球之矚目，讓越來越多的先進大學與研究單位相繼投入此一深具實用性之研究工作。國立成功大學RMRL實驗室，經過多年在無人飛行載具系統上的基礎上，近年研究目標已漸鎖定在自主性載具之自動化系統開發。本研究的目的在於設計開發一套名為SWAN之具備自動飛行、導航、與目標監視鎖定功能的全自動化無人空中載具系統。透過系統工程構念，將此一研究分為五個次系統開發案。其中以機載航電系統為開發核心首步，架構其上逐步設計開發出即時地面站監控系統、姿態感測系與目標鎖定光學遙測系統、自動飛行控制系統以及高性能無人載具設計。本論文中詳述了全套系統研發過程。從實驗室任務需求所導引出來的全系統基本概念成形、規格定義、次系統分工架構、次系統構想與開發、次系統個別功能調校實驗。在完成所有次系統開發後，執行次系統整合與飛測，一直到最後的實際全系統任務驗證。在此研究中進行的次系統等級/全系統等級之機電系統整合開發研究，不但達成將無人載具功能自主化的研究目標，同時更完成了國內學術界首例之無人載具長距離海上飛行。本系統開發過程中無論軟/硬體均採用開放式系統架構設計，如此不但保持了系統彈性以利現有功能之修改或新功能/新元件之增加，全系統更可以順利轉換至它種類之無人載具系統以符合新研究之所需。

This dissertation presents the system engineering approach for the development of an Unmanned Aerial Vehicle (UAV) system with Surveillance, Watch, Autonomous Flight and Navigation (SWAN) capability for beyond-visual-range (BVR) flight. The SWAN UAV is a newly developed, inherently stable, small air vehicle, which is used as a testbed for flight testing of new controller designs. The SWAN development research can be divided into five streams: first is the establishment of onboard computing system to act as a basis of the entire avionic system. Next is the design and fabrication of a real-time ground monitor/control station, dynamic measuring system, gimbals payload system and autopilot system. The last is the design and manufacture of a high performance vehicle. The detailed process of each individual system development described in this dissertation covers from mission requirements, concept and algorithm, and to the prototype function tests. A series of integrated system tests were conducted after all subsystems functions have been built and validated, including an over-sea flight demonstration beyond the visual range of longer than 8 km. Although the mechatronics system developed in this research is for unmanned aerial vehicle, but the functions (subsystems) featuring an open architecture which can be able to transfer rapidly from one unmanned vehicle system to another kind, such as from fixed-wing UAV to helicopter, or even to autonomous land vehicle and autonomous marine vehicle.

ABSTRACT…………………………………………………… VI
ACKNOWLEDGMENTS…………………………………………… VII
EXTENDED CHINESE ABSTRACT……………………………… IX
CONTENTS…………………………………………………… XVII
LIST OF TABLES…………………………………………… XX
LIST OF FIGURES…………………………………………… XXI
NOMENCLATURE……………………………………………… XXVIII
1. INTRODUCTION…………………………………………… 1
1.1. Overview of UAV………………………………… 2
1.2. Developments of UAV in Universities……… 5
1.3. Motivation and Objectives…………………… 8
2. SYSTEM ENGINEERING for UAV DESIGN……………… 11
2.1. System Approach in Aerospace Design……… 12
2.2. Mission Requirements of SWAN UAV…………… 15
2.3. Development Master Plan……………………… 17
3. SWAN UAV SYSTEM DEVELOPMENT……………………… 23
3.1. System Hardware Architecture………………… 25
3.2. Onboard Computing System……………………… 25
3.2.1. Onboard computer…………………………… 25
3.2.2. Sensors and peripheral…………………… 28
3.2.3. Onboard software…………………………… 40
3.3. Automatic Flight Controller ……………… 55
3.3.1. Autopilot conceptual design……………… 55
3.3.2. Flight controller design………………… 61
3.3.3. Design result simulation………………… 65
3.4. AHRS and Gimbals CCD Payload………………… 70
3.4.1. Attitude measurement ………………… 70
3.4.2. Complementary filter for AHRS…………… 75
3.4.3. Remote sensing gimbal payload…………… 79
3.5. Ground Station…………………………………… 85
3.5.1. Hardware architecture……………………… 86
3.5.2. Developing tools…………………………… 89
3.5.3. Virtual cockpit interface………………… 90
3.6. Air Vehicle Design……………………………… 92
3.6.1. Sizing from conceptual sketch…………… 93
3.6.2. Performance analysis……………………… 99
3.6.3. Fabrication and maiden flight…………… 101
4. TEST, RESULTS, AND DISCUSSION…………………… 106
4.1. Subsystem Ground Tests………………………… 106
4.1.1. Power endurance test……………………… 107
4.1.2. Wireless datalink test…………………… 110
4.1.3. EMI test……………………………………… 112
4.1.4. AHRS test……………………………………… 113
4.1.5. Gimbals function test……………………… 115
4.2. Subsystem Flight Test………………………… 116
4.2.1. Onboard avionics test……………………… 116
4.2.2. Remote sensing payload test……………… 118
4.2.3. Automatic flight controller test……… 124
4.3. System Integration Test……………………… 129
5. WIND GUST EFFECT ESTIMATION……………………… 134
5.1. Dynamic Model with Wind Gust………………… 134
5.2. Kalman Filter Algorithm……………………… 136
5.3. Wind Gust Estimation Result………………… 139
6. CONCLUSION……………………………………………… 146
6.1. Conclusions on System Value Created……… 146
6.2. Prospective Application……………………… 149
6.2.1 Autonomous unmanned underwater vehicle… 150
6.2.2. Autonomous unmanned ground vehicle…… 151
REFERENCES………………………………………………… 152
APPENDIX…………………………………………………… 157

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