本論文旨在設計並實現一雙旋翼飛行器。本系統以比例-積分-微分(Proportional-Integral-Derivative Controller, PID)控制法則，根據姿態航向感測器(Attitude and Heading Reference System, AHRS)傳來的飛行器姿態資料推算所需的控制量，分別控制四顆馬達(兩顆為縱向傾斜馬達，兩顆為推力馬達)，以達到控制飛行器穩定飛行的目標。本研究使用以現場可程式化閘陣列(Field Programmable Gate Array, FPGA)為核心之硬體平台，整體的雙旋翼機構為自行設計，並自行撰寫整個飛行控制程式，所完成的雙旋翼飛行系統可利用智慧型手機控制其飛行，實現垂直起飛、降落、懸停和姿態穩定等飛行動作。

In this thesis, we design and implement a twincopter. The twincopter system uses the PID (Proportional-Integral-Derivative) control method, according to twincopter’s attitude measured by a AHRS (Attitude and Heading Reference System), to calculate appropriate control values for the four motors (two servo motors and two DC motors) to achieve the goal of stable flight. This work uses a FPGA (Field Programmable Gate Array) cored platform being the flight control system and the mechanism of drone is designed from scratch as well as the flight control code. The resulting system can be remote controlled by smart phones for realizing the tasks of hovering, vertical takeoff and landing.

摘要 ................................ .... i
Abstract ............................. ... ii
誌謝 .................................... iii
目錄 .................................. .. iv
表目錄 ............................. ..... vi
圖目錄 .................................... ix
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 .................. ........... 4
1.4 論文架構 .................. ........... 6
第二章 雙旋翼飛行器系統數學模型.. ........... 7
2.1 簡介................................... 7
2.2 旋轉矩陣 ................... ........... 8
2.3 雙旋翼飛行器數學模型 ................... 12
第三章 PID控制器設計 ....................... 16
3.1 PID控制器設計 .......................... 16
3.2 旋轉方程式換控制量 .... ................. 17
第四章 雙旋翼機構與系統設計 ................. 19
4.1 雙旋翼整體機構 .......................... 19
4.2 雙旋翼轉軸設計........................... 20
4.3 硬體設備 ................................ 21
4.4 FPGA開發平台............................. 25
4.5 軟體開發環境 ............................ 25
4.6 Visual Studio開發平台 ................... 26
4.7 系統整合 ...................... ......... 26
第五章 模擬與實驗結果 模擬與實驗結果........... 31
5.1 Matlab模擬 ........................ .... 31
5.2 雙旋翼實驗 ........................ ..... 34
第六章 結論與未來展望 結論與未來展望........... 41
6.1 討論 與結.......................... ..... 41
6.2 本研究之貢獻........................... . 42
6.3 未來展望 ...................... ......... 42
參考文獻..................................... 43
Extended Abstract ................. ......... 45
簡歷 ...................................... . 55

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[2] 亞馬遜送貨無人機， https://www.amazon.com/b?node=8037720011
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[4] Lily Camera，https://www.lily.camera/
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[9] V-22 Osprey，http://www.boeing.com/boeing/rotorcraft/military/v22/
[10] 阿凡達戰機， https://goo.gl/rDSA14
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44
[18] Fernando Silvano Gonçalves, João Paulo Bodanese, Rodrigo Donadel, Guilherme V. Raffo, Julio Elias Normey-Rico and Leandro Buss Becker, “Small Scale UAV with Birotor Configuration,” International Conference on Unmanned Aircraft Systems, Grand Hyatt Atlanta, 2013 [19] Luis Arturo Ruiz Brito, “Control of A 3DOF Birotor Helicopter Using Robust Control Methods,” Texas A&M University in partial fulfillment of the requirements or the degree of Master Of Science, 2009
[20] Anand Sanchez-Orta, Juan-Antonio Escareño, Octavio Garcia and Rogelio Lozano, “Autonomous Hovering of a Noncyclic Tiltrotor UAV: Modeling, Control and Implementation,” Proceedings of the 17th World Congress The International Federation of Automatic Control, Seoul, Korea, 2008
[21] M-ROTOR，http://m-rotor.com/page/?p=257
[22] Mini Twincopter，https://www.youtube.com/watch?v=7zKTtPawq4Q
[23] Tiltrotor，https://goo.gl/Kc6faV
[24] Dys直流無刷馬達， http://www.dys.hk/ProductShow.asp?ID=129
[25] 伺服馬達， https://goo.gl/N8ydc3
[26] 電子調速器， https://goo.gl/qUh5Jt
[27] Wi-Fi模組， https://goo.gl/5jFsnB
[28] Wi-Fi攝像模組， http://www.netopsun.com/product/class/?2.html
[29] Nokia LCD5110，https://goo.gl/dTd2VY
[30] Orientus感測器， https://goo.gl/ooz8mU
[31] Altera DE0-Nano，https://goo.gl/RTzn6Q
[32] Nios II Eclipse Software Development，https://goo.gl/jcGbta
[33] Visual Studio，https://goo.gl/up7WVk