臺灣博碩士論文加值系統

本論文中以STM32F4-Discoverty嵌入式系統作為飛行控制板，搭配鋰電池、馬達和電子調速器等以完成四軸飛行器的硬體開發。在四旋翼的姿態控制方面，經過互補濾波器過濾飛行資訊中的雜訊，並透過控制器以修正四旋翼飛行姿態。此外，在控制器設計方面，由於四軸飛行器在飛行時會受外部干擾影響，因此我們設計一滑動模式控制以穩定四軸飛行器。透過了模擬以及硬體上的實際應用驗證我們所提出的控制方法與硬體架構是有效且可行的。

In this thesis, the hardware of quadrotor is implemented based on the STM32F4-Discoverty embedded system with the lithium battery, motors, and electronic governor. For the attitude control, the noise of flight data can be filtered by the complementary filter and the hovering attitude of the quadrotor can be modified by the sliding mode controller. By the examination of the controller design, since the flight of quadrotor will be affected by the external disturbance, a sliding mode controller is designed to stabilize the quadrotor. Lastly, the simulation and the real experiment are illustrated to show the effectiveness and the validity of the proposed controller and the developed quadrotor.

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 前言 1
1.2 研究動機 2
1.3 研究目的 2
1.4 論文架構 2
第二章 四軸飛行器及開發平臺介紹 4
2.1 四軸飛行器之硬體介紹 4
2.1.1 鋰離子聚合物電池 5
2.1.2 直流無刷馬達 6
2.1.3 電子調速器 8
2.1.4 加速度計 9
2.1.5 陀螺儀 10
2.1.6 Wi-Fi模組 10
2.1.7 嵌入式系統 12
2.2 四軸飛行器之結構原理與基本運動原理 12
2.3 開發平臺Keil uVision4 15
2.4 FreeRTOS 16
第三章 滑動模式控制 18
3.1 前言 18
3.2 李亞普諾夫穩定準則 18
3.3 四軸飛行器之數學模型 19
3.4 滑動模式控制 22
3.4.1 滑動模式控制基本概念 22
3.4.2 滑動模式控制之控制器設計 22
3.5 互補濾波器 25
第四章 實驗流程 27
4.1 四軸飛行器軟硬體配置 27
4.1.1 架構配置 27
4.1.2 四軸飛行器之硬體配置 28
4.1.3 飛行控制板之軟體規劃 29
4.1.4 建立Wi-Fi傳輸協定 30
4.1.5 指令傳輸與解析 32
4.1.6 軟硬體結合總架構 35
4.2 滑動模式控制器設計 36
4.3 以滑動模式控制之姿態控制方法模擬 42
4.4 以滑動模式控制為基礎之姿態控制實現 45
4.4.1 實驗一：Roll姿態角實際飛行數值紀錄 46
4.4.1 實驗二：Pitch與Yaw姿態角實際飛行數值紀錄 47
第五章 結論與未來發展 51
5.1 結論 51
5.2 未來展望 51
參考文獻 52

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