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研究生:施博堂
研究生(外文):Bo-Tang Shih
論文名稱:以SoPC實現具物體追蹤功能之四旋翼飛行器
論文名稱(外文):The SoPC Implementation of an Object Tracking Quad Rotor
指導教授:徐元寶徐元寶引用關係
學位類別:碩士
校院名稱:國立虎尾科技大學
系所名稱:資訊工程研究所
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2013
畢業學年度:101
語文別:中文
論文頁數:60
中文關鍵詞:Quad-RotorPIDSoPCObject Tracking
外文關鍵詞:Quad-RotorPIDSoPCObject Tracking
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本論文設計並實現一四旋翼飛行器,並將整個系統以SoPC實現。論文中推導出四旋翼飛行器之數學模型,並以PID控制法對推導出的模型進行模擬與驗證。本研究使用SoPC (System on a Programmable Chip) 做為硬體平台,透過三軸陀螺儀以及三軸加速度計回授飛行器之角速度以及角度,控制飛行器的姿態穩定,並利用超音波距離感器和CMOS攝影機,偵測高度及地面物件,使飛行器能進行物件追蹤。所完成的飛行器能穩定的在室內飛行,也能追蹤地面物件,達成預期的目標。

In this thesis, we design and implement a quad-rotor aircraft, and realize the whole system on a SoPC (System on a Programmable Chip) platform. The dynamic mathematical model of a quad-rotor aircraft is derived. Simulation is conducted by applying the PID (Proportional Integral Derivative) method to control the resulting model to verify if the method is able to stabilize the model.
This work uses a SoPC platform as the flight controller. The posture of the aircraft is stabilized according to the sensory data from a three-axle gyroscope and a tri-axia accelerometer providing angular rates and Euler angles respectively for the control system. Additionally, a CMOS camera and an ultra-sonic sensor mounted on the bottom of the aircraft enable it to detect and track the ground object while the aircraft is flying.The resulting system can fly stably in-door and track a specific object on the ground satisfying the design and implementation purpose.


摘要....i
Abstract....ii
誌謝....iii
目錄....iv
表目錄....vi
圖目錄....vii
第一章 緒論....1
1.1 研究背景與動機....1
1.2 文獻探討....2
1.3 研究方法....3
1.4 論文架構 4
第二章 四旋翼飛行器系統數學模型....5
2.1 簡介....5
2.2 旋轉矩陣....6
2.3 四旋翼飛行器數學模型....8
第三章 四旋翼姿態與位置控制器設計....13
3.1 PID控制器設計....13
3.2 四旋翼飛行器運動方程式之模擬結果....17
第四章 四旋翼機構與系統設計....19
4.1 機構簡介....19
4.2 系統架構....20
4.3 物件座標定位....33
4.4 硬體電路設計....38
4.5 系統軟體設計....41
第五章 實驗結果....43
5.1 DCM對IMU的修正實驗....43
5.2 超音波感測實驗....44
5.3 四旋翼姿態角補償物件影像座標實驗....45
5.4 目標物件追蹤實驗....46
第六章 結論與未來展望....51
6.1 結論....51
6.2 未來展望....52
參考文獻 ....53
Extended Abstract....56
簡歷 ....60



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