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研究生:袁國鈞
論文名稱:四軸飛行器軌跡追蹤控制器設計
論文名稱(外文):Design of Quadrotor Trajectory Tracking Controllers
指導教授:吳政郎
指導教授(外文):WU, JENQ-LANG
口試委員:呂藝光莊鎮嘉張原彰吳政郎
口試委員(外文):LEU, YIH-GUANGCHUANG, CHEN-CHIACHANG, YUAN-CHANGWU, JENQ-LANG
口試日期:2023-06-27
學位類別:碩士
校院名稱:國立臺灣海洋大學
系所名稱:電機工程學系
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:2023
畢業學年度:111
語文別:中文
論文頁數:37
中文關鍵詞:四軸飛行器狀態擴展PID控制軌跡追蹤
外文關鍵詞:QuadrotorState augmentationPID controlTrajectory Tracking
相關次數:
  • 被引用被引用:0
  • 點閱點閱:141
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  • 下載下載:28
  • 收藏至我的研究室書目清單書目收藏:0
本論文使用TMS320F28379D控制板實現四軸飛行器控制。首先使用Newton-Euler法推導系統動態方程式,接著將該動態方程式線性化且分成四個子系統以簡化控制器的設計,再透過實驗取得四軸飛行器的各項機械參數,然後使用狀態擴展技巧來設計PID控制器,並利用LQR控制法則來設計該PID控制器的參數。最後我們利用模擬證實該控制器能使系統追蹤設定好的軌跡;而在實驗中控制目標則是姿態角度的追蹤控制,也驗證了所設計控制器的有效性。
This thesis presents the implementation of a quadcopter control system using the TMS320F28379D development board. The system's dynamic equations are derived using the Newton-Euler method. These equations are then linearized and divided into four subsystems to simplify the controller design process. Experimental data are obtained to determine the mechanical parameters of the quadcopter. A PID controller is designed using a state expansion technique, and the parameters of the PID controller are optimized using the LQR control method. Finally, we use simulation to confirm that the controller can enable the system to track the desired trajectory; the control objective in the experiment is the attitude angle tracking control, which also verifies the effectiveness of the designed controller.
摘要 I
Abstract II
目錄 III
圖目錄 V
第一章 緒論 1
1.1 研究動機與目的 1
1.2文獻回顧 1
1.3論文架構 2
第二章 四軸飛行器動態模型 3
2.1參考座標系 3
2.2動態方程式推導 5
2.3線性化模型 7
第三章 系統架構與參數測量 9
3.1硬體架構 9
3.1.1 LAUNCHXL-F28379D DSP 9
3.1.2 四軸飛行器機架 9
3.1.3 電子變速器 10
3.1.4 無刷直流馬達 10
3.1.5 旋翼 11
3.1.6 鋰電池 11
3.1.7 九軸感測器 12
3.1.8 超音波測距模組 12
3.2參數測量 13
3.2.1 重心量測[9] 13
3.2.2 轉動慣量量測[10] 15
3.3馬達推力與反扭矩關係 16
第四章 四軸飛行器控制器設計和模擬 21
4.1 PID控制器 21
4.2 LQR控制法則介紹 22
4.3 高度控制與模擬 23
4.3.1模擬結果 23
4.4姿態控制與模擬 25
4.4.1模擬結果 26
4.5 實驗結果 29
第五章 結論與未來展望 35
5.1 結論 35
5.2 未來展望 35
參考文獻 36

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