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研究生:胡利歐
研究生(外文):Julio Cesar Alfaro Escobar
論文名稱:微型飛行器(MAV)的系統整合與飛行穩定性建模
論文名稱(外文):SYSTEM INTEGRATION AND FLIGHT STABILITY SIMULATION OF MICRO AERIAL VEHICLE
指導教授:郭智賢
指導教授(外文):ZEAL-SAIN KUO
學位類別:碩士
校院名稱:國防大學理工學院
系所名稱:兵器系統工程碩士班
學門:軍警國防安全學門
學類:軍事學類
論文種類:學術論文
論文出版年:2009
畢業學年度:97
語文別:英文
論文頁數:71
中文關鍵詞:微飛行器系統整合飛行穩定模擬
外文關鍵詞:micro aerial vehiclesystem integratedstability simulation
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論文主要在研究微飛行器(MAV)的系統整合及其飛行穩定性模擬。微飛行器具有在城市鄉鎮和複雜環境執行偵搜任務的軍事潛力。本研究亦用六自由度非線性方程式建模,同時利用小擾動理論推導適用於中等或大攻角飛行條件的線性非時變(LTI)系統運動方程,由此方程式模擬微飛行器穩定性特徵。模擬結果呈現mLTI與cLTI均非常的接近非線性動力學模型。另一方面X-Plane軟體通常用來設計與模擬飛行,藉由使用者資料電報協定(UDP,User Datagram Protocal)將資料傳送到應用程式LabVIEW用以運算及驗證MAV飛行的穩定性。MAV初步的設計與驗證係假設此飛行器最大線性長度為50公分等級之飛行載具,飛行在高度100公尺的條件下要到達距起飛點1公里外的目標。
The present thesis shows the system integration of a small size, light weight, portable, and high mobility characteristics of a micro aerial vehicle (MAV). The MAV can perform a variety of military missions, reconnaissance, battlefield assessment, and targeting. Also, the study of the linear time invariant (LTI) system at large or moderate angle of attacks was evaluated around an equilibrium based on the small disturbance theory for the MAV’s flight. The result of the MATLAB simulation demonstrated that the conventional LTI (cLTI) and modified LTI (mLTI) are very close to the nonlinear dynamical model. The X-Plane software, was also used to design and flight simulation using an user datagram protocol (UDP) to send data to LabVIEW to calculate and demonstrate the flight stability of the MAV. The preliminary design and simulation of MAV are assumed to have about 50 cm maximum linear dimension and flight at an altitude of 100 m to reach a target 1 km away from the launch point.
Acknowledgments ii
Abstract iii
摘要……………………………………………………………………………................................iv
Contents v
List of Tables viii
List of Figures ix
Nomenclature xi
1. Introduction 1
1.1 Prologue 1
1.2 Background 3
1.3 Motivation and objectives 4
1.4 Research process 5
1.5 Literature survey…………………………………………………………………………….5
2. System Integration 8
2.1 Mission definition 8
2.1.1 Mission profile……………………………………………………………………….8
2.1.2 Payload components………………………………………………………………..10
2.2 Research process……………………………………………………………........................11
2.2.1 Performance requirement…………………………………………………………...11
2.2.2 Physical requirements………………………………………………………………11
2.2.3 Conceptual and preliminary design………………………………………………...11
2.2.4 Prototype manufacturing…………………………………………………………...12
2.2.5 First flight test……………..……..………………………………………………...12
2.2.6 Modification and repair…………………………………………………………….12
2.2.7 Second flight test………………………………………………………………….12
2.2.8 Control and simulation……………………………………………………………..12
3. Design of MAV………………………………………………………………………………..13
3.1 Overview…………………………………………………………………………………..13
3.2 Baseline design…………………………………………………………………………….13
3.2.1 Design and fabrication……………………………………………………………..13
3.2.2 Flight testing……………………………………………………………………….14
3.3 Final design………………………………………………………………………………..14
3.3.1 Layout design……………………………………………………………………....15
3.3.2 Fabrication and integration…………………………………………………………15
3.3.3 Components 16
3.3.4 Wiring connection…………………………………………………………………. 20
4. Flight Stability and Control 22
4.1 Background 22
4.2 Basic principles 22
4.2.1 Axis system………………………………………………………………………...22
4.2.2 Aerodynamic forces………………………………………………………………...24
4.3 Nonlinear equation of motion 25
4.4 Longitudinal analysis 29
4.5 Lateral analysis 30
4.6 MATLAB simulation analysis 33
4.6.1 Flight dynamics analysis…………………………………………………………...32
4.6.2 Matrix analysis……………………………………………………………………..33
4.6.3 Eigenvalue analysis………………………………………………………………...36
4.6.4 Longitudinal and lateral analysis plotting………………………………………….36
5. Simulation Architecture 47
5.1 Overview…………………………………………………………………………………..47
5.2 UDP and TCP/IP introduction……………………………………………………………..47
5.2.1 User datagram protocol (UDP)……………………………………………………..47
5.2.2 Transmission control protocol (TCP)………………………………………………48
5.2.3 Internet protocol (IP)……………………………………………………………….51
5.3 X-Plane software…………………………………………………………………………..52
5.4 Design setting……………………………………………………………………………...52
5.5 Platform X-Plane interface software………………………………………………………54
5.6 Simulation and transmission setting………………………………………………………56
5.6.1 User datagram protocol (UDP) setting……………………………………………..56
5.6.2 Internet protocol (IP) setting……………………………………………………….56
5.6.3 Receive information………………………………………………………………..59
5.6.4 Send information…………………………………………………………………...60
5.6.5 Final cockpit display integration…………………………………………………...62
6. Concluding remarks 67
6.1 Conclusions 67
6.2 Follow-up research suggestions 67
References 69
Autobiography 71
APENDIX "A" Components, take-off weight and central gravity of 50cm Micro Aerial Vehicle.
[1 ]周 台 輝,飛行器設計與研製,國防大學中正理工學院,桃園大溪,頁次 39, 民國89年5月24。
[2]U.S. Army, Infantry Unmanned Aerial Vehicle (UAV) Requirements and Issues Presentation, U.S. Army Infantry Center, slide 5, 2008.
[3]Lee, K., Development of Unmanned Aerial Vehicle (UAV) For Wildlife Surveillance, thesis for the degree of master of science, University of Florida, pp.1–10, 2004.
[4]Grasmayer, J. M., and Keennon, M. T., “Development of the Black Widow Micro Aerial Vehicle,” work research supported by DARPA Tactical Technology Office, AeroViroment, Inc., 2001.
[5]“Unmanned aerial vehicles,” http://www.nottingham.ac.uk, magazine news of the University of Nottingham, pp. 1-8.
[6]Sagoo, G. K., Pilot in Loop Assessment of Fault Tolerant Flight Control Schemesin Flight Simulator, thesis for the degree of master of science in aerospace engineering, Department of Mechanical and Aerospace Engineering, College of Engineering and Mineral Resources at West Virginia University, Morgantown, West Virginia U.S., pp. 3–63, 2008.
[7]Tseng, W., Using Fuzzy Logic Control in Simulations of Autonomous Navigation and Formation Flight of Unmanned Aerial Vehicle, thesis for the degree of master of science in aeronautical engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C., p. 39–51, 2008.
[8]Jung, S., Design and Development of a Micro Air Vehicle (MAV): Test-bed for vision-based control, thesis for the degree of master of science, University of Florida, pp. 7, 2004.
[9]Dr. Nelson, R. C., Flight Stability and Automatic Control, Second Edition, McGRAW-HILL, New York, pp. 35-39, 1998.
[10]“Flight,” http://www.flightglobal.com, Official Organ of the Aero Club of United of Kingdom.
[11]Otto Lilienthal, “To fly like a bird,” http://www.lilienthal-museum.de, Otto-Lilienthal-Museum.
[12]“The NASA scifiles,” http://scifiles.larc.nasa.gov.
[13 ]Dr. Nelson, R. C., Flight Stability and Automatic Control, Second Edition, McGRAW-HILL, New York, pp. 19–20 and 104-105, 1998.
[14]Postel, J., “An internet encyclopedia,” http://freesoft.org.
[15]Kozierok, C. M., “The TCP/IP guide,” http://www.tcpipguide.com.
[16]Mayer, A., X-Plane manual instruction, App. A – D, 2008.
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