臺灣博碩士論文加值系統

本論文之研究目的是以Arduino Mega 2560控制板實現四軸飛行器之控制。首先說明如何以牛頓尤拉法得到動態方程式，再結合主動式抗干擾控制方法設計控制器。透過此控制方法設計的擴展狀態觀察器，可以有效估測外在的干擾與系統內部的不確定參數，以此為基礎設計控制輸入補償總干擾項的影響，達到系統平衡的效果。本論文以模擬與實驗結果驗證此控制方法之可行性。

The purpose of this thesis is to implement a controller for a quadrotor by using Arduino Mega 2560. First, we explain how to get the dynamic equation for a quadrotor by the Newton-Euler approach. Then, we design the controller by the active disturbance rejection control method. By using a extended state observer, we can effectively estimate the total disturbance caused by the external disturbance and uncertain parameters of the system. On the basis of the estimated total disturbance, we can design the control signal to compensate the total disturbance and to balance the quadrotor. The results of simulations and experiments validate the proposed methods.

摘要 I
Abstract II
目錄 III
圖目錄 V
表目錄 VII
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 1
1.3 研究動機與目的 2
1.4 論文架構 2
第二章 系統架構 3
2.1 四軸飛行器機架 3
2.2 無刷直流馬達與螺旋槳 3
2.3 電子變速計 5
2.4 鋰電池 5
2.5 傾斜計 6
2.6 Arduino Mega 2560控制板 6
2.7 系統架構圖 7
第三章 主動抗干擾控制 8
3.1 控制方法的起源與架構 8
3.2 追蹤微分器 10
3.3 擴展狀態觀察器 16
3.3.1 觀察器 16
3.3.2 ESO 18
3.4 ESO-based誤差回授 22
第四章 四軸飛行器之動態模型 25
4.1 四軸飛行器飛行機制 25
4.2 參考座標系與座標轉換 26
4.3 動態方程式 29
4.3.1 力與力矩 30
4.3.2 水平與旋轉動態 32
4.3.3 結合ADRC 34
第五章 模擬與實作結果 36
5.1 控制訊號與轉子推力 36
5.2 四軸飛行器之轉動慣量實驗 40
5.3 四軸飛行器之ADRC控制模擬 43
5.4 四軸飛行器之ADRC控制實作 47
第六章 結論與未來展望 50
6.1 結論 50
6.2 未來展望 50
參考文獻 51

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